Realsense ROS installation configuration introduction and problem solving

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This article mainly talks about how to Realsense-Ros Installation and configuration , And propose solutions to relevant problems encountered in the process of installation and configuration .

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Realsense-Ros Installation configuration

Realsense-Ros The configuration of mainly involves two function packages ,realsense-ros as well as ddynamic_reconfigure

https://github.com/IntelRealSense/realsense-ros.git
https://github.com/pal-robotics/ddynamic_reconfigure.git

Feature Pack cloning and compilation

If you have created ROS working space , Or it has been built ROS working space , Can be directly in the workspace src Clone relevant function packages under the directory , Then compile , Refer to the following for specific commands ：

# The workspace has been built 
cd catkin_ws/src/
git clone https://github.com/IntelRealSense/realsense-ros.git
git clone https://github.com/pal-robotics/ddynamic_reconfigure.git
cd ~/catkin_ws && catkin_make

# Workspace not established 
mkdir -p ~/catkin_ws/src
catkin_init_workspace
cd ..
catkin_make
cd src/
git clone https://github.com/IntelRealSense/realsense-ros.git
git clone https://github.com/pal-robotics/ddynamic_reconfigure.git
cd ~/catkin_ws && catkin_make

Compilation error and problem analysis

In the last part of the cloning and compilation of the above function package catkin_make when , You may get the terminal error prompt as shown in the figure below ：

Reading the error prompt of the terminal feedback, we can see that it is mentioned in the cloned realsense_ros Under the function package directory realsense2_camera Of CMakelist.txt An error occurred in the file , The second part of the document 43 Line needs to be found realsense2 Function pack , And ask for realsense2 Is the version number 2.37.0, But it's installing realsense When the camera is driven , The camera driver version is 2.36.0, Therefore, at compile time , Unable to find 2.37.0 Version causes an error to occur .

#catkin_ws/realsense-ros/realsense2_camera/CMakelist.txt
cmake_minimum_required(VERSION 2.8.3)
project(realsense2_camera)
add_compile_options(-std=c++11)

option(BUILD_WITH_OPENMP "Use OpenMP" OFF)
option(SET_USER_BREAK_AT_STARTUP "Set user wait point in startup (for debug)" OFF)

add_definitions(-D_CRT_SECURE_NO_WARNINGS)
set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)

find_package(catkin REQUIRED COMPONENTS
    message_generation
    nav_msgs
    roscpp
    sensor_msgs
    std_msgs
    nodelet
    cv_bridge
    image_transport
    tf
    ddynamic_reconfigure
    diagnostic_updater
    )

if(BUILD_WITH_OPENMP)
    find_package(OpenMP)
    if(NOT OpenMP_FOUND)
        message(FATAL_ERROR "\n\n OpenMP is missing!\n\n")
    else()
        set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS} -fopenmp")
        set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")
    endif()
endif()

if(SET_USER_BREAK_AT_STARTUP)
	message("GOT FLAG IN CmakeLists.txt")
	set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DBPDEBUG")
endif()

if (WIN32)
find_package(realsense2 CONFIG REQUIRED)
else()
find_package(realsense2 2.37.0)
endif()

if(NOT realsense2_FOUND)
    message(FATAL_ERROR "\n\n Intel RealSense SDK 2.0 is missing, please install it from https://github.com/IntelRealSense/librealsense/releases\n\n")
endif()

Solution

Modify the error information fed back by the terminal realsense-ros/realsense2_camera/CMakeLists.txt:43, Refer to the example given below to modify it , The major revision number is 2.36.0.

if (WIN32)
find_package(realsense2 CONFIG REQUIRED)
else()
find_package(realsense2 2.36.0)    # It is amended as follows 2.36.0
endif()

Conclusion

This article mainly describes the author in the installation of play Realsense D435i After driving , install Realsense Of ROS The introduction of the support function package and the solutions to the problems encountered , I hope this article can help you solve the problems you encounter .