Intel provides an open source ROS Package for their RealSense D400 series cameras. Here we install the package on a NVIDIA Jetson TX development kit. Looky here:
Background
The RealSense D400 cameras are the next generation of the Intel RealSense camera product line. In the video, we install a ROS driver for a RealSense D435 camera, a device well suited towards robotic applications. The size of the D435, along with convenient mounting options, provide for a nice mechanical packaging solution for adding a RGBD camera to your project.
Installation
There are two prerequisites for installing the RealSense ROS package on the Jetson. The first is to install the librealsense 2 camera driver library on the Jetson. We cover the procedure in this article: Install Intel RealSense D400 camera driver.
The second prerequisite is to install Robot Operating System (ROS). A short article Robot Operating System (ROS) on NVIDIA Jetson TX Development Kits is available.
Install RealSense Package for ROS
There is a convenience script to install the RealSense ROS package on the JetsonHacks account on Github called installRealSense2ROSTX.
After the prerequisites above are installed:
$ git clone https://github.com/jetsonhacks/installRealSense2ROSTX
$ cd installRealSense2ROSTX
$ ./installRealSense2ROSTX
Where catkin workplace name is the name of the catkin_workspace to place the RealSense ROS package. If the workspace name is not specified, the installation takes place in the default catkin workspace name, catkin_ws.
The install script works with either a Jetson TX1 or a Jetson TX2.
There are several launch files available. Please refer to the Intel-ROS RealSense repository on Github for examples.
Notes
- In the video, the installation takes place on a Jetson TX2 running L4T 28.2 (JetPack 3.2).
- An Intel RealSense D435 is being used in the video.
- Version v2.0.3 of the intel-ros realsense package is installed
- Version v2.10.4 of librealsense 2 is installed on the Jetson
- ROS Kinetic
11 Responses
Would architectural hints help?
Something like
-D EXTRA_C_FLAGS=”-mcpu=cortex-a57+crypto -ftree-vectorize -mfloat-abi=hard”
-D EXTRA_CXX_FLAGS=”-mcpu=cortex-a57+crypto -ftree-vectorize -mfloat-abi=hard”
I would think that they would, but I have not measured the performance difference.
I’m encountering this error after I entered “./installRealSense2ROSTX”:
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
realsense2_camera: Cannot locate rosdep definition for [librealsense2]
./installRealSenseROS.sh: line 88: syntax error: unexpected end of file
How do I solve it?
Correction: the command was “./installRealSenseROS.sh”
metoo
Is it possible to integrate the D435 and the TX2 if you are using Jetpack 3.0 instead?
The supplied patches are for JetPack 3.2. You may be able to port to earlier versions.
Very cool! Would I be able to pull this off using a Jetson Nano? I’ve been trying using the Realsense on an RPiB+ and it is a nightmare.
Is it possible to grab an OS image of this and post it as well? I know images can be easily grabbed and burned on an RPi
Does Realsense D435 with ROS work with Jetson Nano, Ubuntu 18.04, ROS melodic?
I tried, but got error
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ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
realsense2_camera: No definition of [librealsense2] for OS version [bionic]
./installRealSenseROS.sh: line 88: syntax error: unexpected end of file
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Can you help to solve this.
Note:D435 with ‘realsense-viewer’ works fine in Jetson Nano.
Not sure what you tried from your description of your issue. Typically one would use the Jetson Nano install scripts:
https://github.com/JetsonHacksNano/installRealSenseROS