maplab_realsense

This repository contains a ros wrapper for the Intel RealSense ZR300 driver, with a focus on its application for visual-inertial mapping.

Contents:

• Installation for maplab users
• Build maplab_realsense
• Run maplab_realsense
• Stand-alone Installation

Installation for maplab users

This installation instruction assumes you already have maplab installed based on this page.

Install Realsense driver

• Ubuntu LTS 16.04

  sudo apt install ros-kinetic-librealsense
  

• Ubuntu LTS 14.04

  sudo apt-get install ros-indigo-librealsense
  

Add maplab_realsense and dependencies to your maplab workspace

cd $CATKIN_WS/src
git clone https://github.com/ethz-asl/maplab_realsense.git
git clone  https://github.com/ethz-asl/cuckoo_time_translator.git

Build maplab_realsense

catkin build maplab_realsense

Run maplab_realsense

Source the catkin workspace:

source $CATKIN_WS/devel/setup.bash

There is an example launch file with a list of all available ros parameters:

 roslaunch maplab_realsense maplab_realsense.launch

Stand-alone Installation

Install ROS

Skip this part if you have ROS installed.

export UBUNTU_VERSION=xenial #(Ubuntu 16.04: xenial, Ubuntu 14.04: trusty)
export ROS_VERSION=kinetic #(Ubuntu 16.04: kinetic, Ubuntu 14.04: indigo)

sudo apt install software-properties-common
sudo add-apt-repository "deb http://packages.ros.org/ros/ubuntu $UBUNTU_VERSION main"
wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | sudo apt-key add -
sudo apt update

sudo apt install ros-$ROS_VERSION-desktop-full "ros-$ROS_VERSION-tf2-*" "ros-$ROS_VERSION-camera-info-manager*" --yes

Initialize ROS installation

Skip this part if you have ROS installed.

sudo rosdep init
rosdep update
echo ". /opt/ros/$ROS_VERSION/setup.bash" >> ~/.bashrc
source ~/.bashrc

Install librealsense

sudo apt install ros-${ROS_VERSION}-librealsense

Create catkin workspace

Skip this part if you would like to add maplab_realsense to an existing workspace.

export ROS_VERSION=kinetic #(Ubuntu 16.04: kinetic, Ubuntu 14.04: indigo)
export CATKIN_WS=~/maplab_ws
mkdir -p $CATKIN_WS/src
cd $CATKIN_WS
catkin init
catkin config --merge-devel # Necessary for catkin_tools >= 0.4.
catkin config --extend /opt/ros/$ROS_VERSION
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
cd src

Clone maplab_realsense and dependencies

Be aware that if you would like to add maplab_realsense to an existing workspace, there might be conflicts with the dependencies and/or wstool.

cd ${CATKIN_WS}/src
git clone https://github.com/ethz-asl/maplab_realsense.git
wstool init             # If you are using a pre-existing workspace and
                        # have used wstool before, this won't be necessary
wstool merge maplab_realsense/dependencies.rosinstall
wstool update -j4