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Documentation

Intel® RealSense™ packages to enable the use of Intel® RealSense™ R200, F200, SR300 and D400 cameras with ROS.

Installation Prerequisites

Installation Prerequisites

Prior to installing the ROS librealsense Debian packages, the system will need to be configured to enable the downloading of kernel source files.

Packages

Package

Description

librealsense

Underlying library driver for communicating with Intel® RealSense™ R200, F200 and SR300 cameras.

realsense_camera

ROS Intel® RealSense™ camera node for publishing camera data using librealsense.

librealsense2

SDK for communicating with Intel® RealSense™ SR300 and D400 cameras.

realsense2_camera

ROS Intel® RealSense™ camera node for publishing camera data using librealsense2.

Turtlebot Usage

Follow the steps on the Turtlebot ROS Wiki for bringing up the turtlebot with the Intel® RealSense™ camera R200 attached. When completing step 3.1 Turtlebot Installation, follow the extra instructions in section 2.3 for Alternative 3D Sensor Setup to configure the R200 camera for navigation use.

Jetson Nano Usage

The supported Ubuntu version of the Jetson Nano is still relying on the kernel version 4.9.x. You can check that with

uname -r

Therefore it is necessary to install outdated versions of librealsense and realsense-ros.

1. Remove possible newer versions

If you already tried to install things, here is the way to revert those. If you start with a fresh Jetson Nano skip to the installation. If you build librealsense from source (may vary on build location):

cd librealsense/build
sudo make uninstall 

you can then remove the folder. If you have installed librealsense via apt follow the instructions by Intel® Also remove the RealSense™ keys from the source list:

sudo nano /etc/apt/sources.list

Remove realsense_ros and ddynamic_reconfigure by deleting then manually from your workspace and with

sudo apt remove ros-melodic-realsense-ros ros-melodic-ddynamic-reconfigure

from your system.

2. Install Jetson Nano versions

Install librealsense following two steps from this:

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE

sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u

Then install librealsense v2.31.0

sudo apt install librealsense2=2.31.0-5ubuntu5~1.gbp95d195 librealsense2-dbg=2.31.0-5ubuntu5~1.gbp95d195 librealsense2-utils=2.31.0-5ubuntu5~1.gbp95d195 librealsense2-gl=2.31.0-5ubuntu5~1.gbp95d195 librealsense2-dev=2.31.0-5ubuntu5~1.gbp95d195

sudo apt install librealsense2-udev-rules=2.31.0-5ubuntu5~1.gbp95d195

To prevent updating to a newer version you should remove the RealSense™ keys as suggested above. At last follow the instructions by JetsonHacks.

Now you should be able to use the RealSense™ devices with your Jetson Nano.

Report a Bug

Use GitHub to report bugs or submit feature requests. [View active issues]

Contributing to the Intel® RealSense™ Projects

The Intel® RealSense™ ROS Project is developed and distributed under a BSD license as noted in realsense_camera/licenses/License.txt.

By making a contribution to this project, I certify that:

(a) The contribution was created in whole or in part by me and I have the right to submit it under the open source license indicated in the file; or

(b) The contribution is based upon previous work that, to the best of my knowledge, is covered under an appropriate open source license and I have the right under that license to submit that work with modifications, whether created in whole or in part by me, under the same open source license (unless I am permitted to submit under a different license), as indicated in the file; or

(c) The contribution was provided directly to me by some other person who certified (a), (b) or (c) and I have not modified it.

(d) I understand and agree that this project and the contribution are public and that a record of the contribution (including all personal information I submit with it, including my sign-off) is maintained indefinitely and may be redistributed consistent with this project or the open source license(s) involved.


2022-09-24 12:22