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SteveMacenski / ros-realsense-d400-snap-pkg

Snapcraft instructions and config file for ros realsense + librealsense snap installs.
GNU Lesser General Public License v2.1
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Ubuntu Snaps of ROS Realsense and librealsense2 for the D4xx cameras

Get it from the Snap Store Buy Me A Coffee

Installation

Install via:

sudo apt-get update && sudo apt install snapcraft && snap install ros-realsense-d400

Usage

You can then run it in the isolated container using 

sudo snap set ros-realsense-d400 serialno=[serial] cameraid=[camera namespace] profile=[profile number] masterhostname=[IP address or hostname] iron=[true/false to enable]
ros-realsense-d400

If the values are not set or some are set, it will run the default rs_camera.launch file in the default namespace (camera) with the default profile for the unset parameters.

Supported Profiles

0 - default
1 - 6 fps color/depth, optional IR @ depth resolution, downsampled to minimum (320x180/424x240)
2 - 6 fps color/depth, optional IR @ all default resolutions
3 - 6 fps color/depth, optional IR @ default depth resolution, color downsampled to 320x180 
4 - 6 fps color/depth, optional IR @ (1280x720) depth resolution, color downsampled to 320x180 
5 - 6 fps color/depth, optional IR @ (848x480) depth resolution, color downsampled to 320x180

Motive

The install process for librealsense and ros realsense wrappers alike frustrates me without end. Inconsistent with different machines or what you had for lunch or if Mercury is in retrograde. As a result, I'm going to do it ONCE per 0.x.0 releases of the ROS wrapper with the stable supported librealsense.

I can only imagine the other poor souls in agony with me so I decided to just publish it publicly and support for whoever stumbles onto this. If you want additional features or configs, feel free to PR, as long as it compiles I'll add it to future releases.

My release instructions (for myself)