ros foxy installation

[dbgarasiya]

Hello,

I want to install foxy(ROS) on Ubuntu 20.04.1 LTS I was unable to install and got error while : colcon build --symlink-install

CMake Error at CMakeLists.txt:19 (find_package):

Failed <<< realsense_msgs [1.73s, exited with code 1]

Summary: 0 packages finished [2.49s] 1 package failed: realsense_msgs 1 package had stderr output: realsense_msgs 3 packages not processed

colcon build failed:realsense_msgs

[zmk5]

Check the CMakeLists.txt file for realsense_msgs and see if you have all the dependencies required by it installed. It seems like you are likely missing one of them.

[cardboardcode]

Hi @dbgarasiya, (Updated as of 25th June 2021)

If you still encountering this issue, you can follow the installation instructions below:

# Download Realsense SDK 2.0
sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
# Use intel servers instead of using the now defunct amazon servers that were used to distribute these binaries.
sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u
sudo apt-get install librealsense2-dkms librealsense2-utils librealsense2-dev librealsense2-dbg -y
# Create a ROS2 workspace
mkdir -p ~/camera_ws/src && cd ~/camera_ws/src
# Download and Set-up ros2_intel_realsense package.
git clone https://github.com/intel/ros2_intel_realsense --single-branch --branch refactor --depth 1
cd ~/camera_ws
colcon build
source install/setup.bash
# Launch It
ros2 run realsense_node realsense_node

Hope this helps whoever is still encountering this issue.

[ThotAlion]

Hello, thank you for the installation process. I did try this process but without success. Here below are the details :

• Ubuntu 20.04
• ROS2 foxy base
• Hardware is an Upboard
• T265 connected on USB2.1

The realsense viewer works.

the rs-enumerate-devices gives :

Device info:
    Name                          :     Intel RealSense T265
    Serial Number                 :     943XXXXXXX78
    Firmware Version              :     0.2.0.951
    Physical Port                 :     1-7.1-12
    Product Id                    :     0B37
    Usb Type Descriptor           :     2.1
    Product Line                  :     T200

Stream Profiles supported by Tracking Module
 Supported modes:
    stream       resolution      fps       format
    Fisheye 1     848x800       @ 30Hz     Y8
    Fisheye 2     848x800       @ 30Hz     Y8
    Gyro         N/A            @ 200Hz    MOTION_XYZ32F
    Accel        N/A            @ 62Hz     MOTION_XYZ32F
    Pose         N/A            @ 200Hz    6DOF

But after setting the right serial number in t265.yaml, I have the following error :

upboard:~/camera_ws$ ros2 run realsense_node realsense_node
[INFO] [1619782958.462440634] [camera]: Device's serial number is not set, enabling the default device!
[INFO] [1619782958.533307579] [camera]: Device with serial number 943222111378 was found.
[INFO] [1619782958.533632005] [camera]: Create a node for T265 Camera
terminate called after throwing an instance of 'rs2::error'
  what():  No device connected

I did the same test on a standard desktop with the same configuration, and we have same error.

Have you heard about this kind of issue (realsense camera on ros2 foxy) ?

Thanks,

[cardboardcode]

@ThotAlion For my case, my Hardware is a Intel Realsense D415.

This issue may be specific to this model series of T265. Unfortunately, I have not tried this model yet.

Have you heard about this kind of issue (realsense camera on ros2 foxy) ?

I have encountered it myself when attempting to use Intel Realsense D415 on ROS2 Foxy, using the previous source builds. However, I don't encounter this issue any longer by doing the instructions I recommended. 😅

[cardboardcode]

@ThotAlion (Updated as of 25th June 2021) This project has been deprecated so have you tried the realsense_ros's ros2 branch? Maybe they had added more recent updates for higher compatibility with the T265 models.

I have updated my previous instructions to use the code under realsense_ros instead. See below:

# Download Realsense SDK 2.0
sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
# Use intel servers instead of using the now defunct amazon servers that were used to distribute these binaries.
sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u
sudo apt-get install librealsense2-dkms librealsense2-utils librealsense2-dev librealsense2-dbg -y
# Create a ROS2 workspace
mkdir -p ~/camera_ws/src && cd ~/camera_ws/src
# Download and Set-up ros2_intel_realsense package.
git clone --depth 1 --branch `git ls-remote --tags https://github.com/IntelRealSense/realsense-ros.git | grep -Po "(?<=tags/)3.\d+\.\d+" | sort -V | tail -1` https://github.com/IntelRealSense/realsense-ros.git
cd ~/camera_ws
colcon build
source install/setup.bash
# Launch It
ros2 launch realsense2_camera rs_launch.py enable_pointcloud:=true

[zmk5]

Yeah this project is pretty much deprecated. I just noticed the ros2 branch on realsense_ros which has been great so far.

[ThotAlion]

@cardboardcode Yes, I saw the last release of the realsense-ros on the 5th May 2021. I tested, and it works very well. BTW, thank you for the new install process :-)