How to use this repository

First of all, this code has to run on Ubuntu Jammy 22.04 and you need to install ROS2 humble. To install the latter have a look here: https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html

Having this setup, you first need to create the following folder structure random_name/src/. Inside the src you clone this repository.

    git clone https://github.com/riccardofeingold/realsense_normal_plane_computation.git .

Now, go one level up using cd ../. You should be now inside the random_name folder. At this point, use colcon to build files:

    colcon build

Before you can use ROS2 to run the node you always have to source the setup.bash file first:

    . install/setup.bash

Now you can run the node using:

    ros2 run magnecko_realsense_node magnecko_realsense_node

librealsense installation guide

Created: March 18, 2023 11:33 AM Theme: Software

Make Ubuntu Up-to-date:

• Update Ubuntu distribution, including getting the latest stable kernel:

  sudo apt-get update && sudo apt-get upgrade && sudo apt-get dist-upgrade

Navigate to magnecko_realsense/librealsense/

• Make sure that no intel realsense is connected for the next steps.

• Install the core packages required to build librealsense binaries and the affected kernel modules:

  sudo apt-get install git libssl-dev libusb-1.0-0-dev libudev-dev pkg-config libgtk-3-dev

• Run Intel Realsense permissions script from librealsense root directory:

  sudo ./scripts/setup_udev_rules.sh

  • Notice: One can always remove permissions by running:./scripts/setup_udev_rules.sh --uninstall

Building librealsense2 SDK

• Navigate to librealsense root directory and run mkdir build && cd build
• Run CMake:
  • cmake ../ -DBUILD_EXAMPLES=true - Builds librealsense along with the demos and tutorials
• Recompile and install librealsense binaries:sudo make uninstall && make clean && make && sudo make install The shared object will be installed in /usr/local/lib, header files in /usr/local/include. The binary demos, tutorials and test files will be copied into /usr/local/bin