- Build Process and explanation here
- Prerequisites
Requirements - SDK
click to see
$ sudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
$ sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev
$ git clone https://github.com/IntelRealSense/librealsense.git
$ cd librealsense && mkdir build && cd build
$ cmake .. -DCMAKE_BUILD_TYPE=Release
$ sudo make uninstall && make clean
$ time make -j8 && sudo make install- DS5 group_devices is empty -> add CMake option
$ cmake .. -DCMAKE_BUILD_TYPE=Release -DFORCE_RSUSB_BACKEND=ON
- Failed to set power state error or UDEV-Rules are missing
$ sudo cp [librealsense path]/config/99-realsense-libusb.rules /etc/udev/rules.d/99-realsense-libusb.rules && sudo udevadm control --reload-rules && udevadm trigger
$ reboot
click to see
- Intel Realsense2 ROS here
$ cd ~/catkin_ws/src && wget https://github.com/intel-ros/realsense/archive/<$version>.zip
$ unzip realsense-<$version>.zip
$ cd ..
$ catkin build realsense2_camera -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release -j8
$ source ./devel/setup.bash- Trouble shooting "Could not find a package configuration file provided by "ddynamic_reconfigure"
$ sudo apt install ros-<distro>-ddynamic-reconfigure
click to see
-
Disable Emitter using /usr/local/bin/realsense-viewer, save the json file and
-
Check "controls-laserstate=off" in the .json file
-
import the json file at the rs_camera.launch file as figure.
IMU Calibration recommended here
click to see
Remember to use pinhole-radtan model in Kalibr and pinhole model in VINS-Fusion
use linear_interpolation for unite_imu_method in realsense camera launch file
- Used Kalibr as here for ZED-mini camera
- a lot referred here for imu models, configuration, emitter disabling, and VIO result
- First, calibrate cameras
$ kalibr_calibrate_cameras --bag Kalibr_data.bag --topics /camera/infra1/image_rect_raw /camera/infra2/image_rect_raw --models pinhole-radtan pinhole-radtan --target april_grid.yaml- Then, calibrate IMU with cameras
$ kalibr_calibrate_imu_camera --bag Kalibr_data.bag --cam camchain-Kalibr_data.yaml --imu imu-params.yaml --target april_grid.yaml- for
imu-params.yaml, I used
#Accelerometers
accelerometer_noise_density: 0.001865 #Noise density (continuous-time)
accelerometer_random_walk: 0.0002 #Bias random walk
#Gyroscopes
gyroscope_noise_density: 0.0018685 #Noise density (continuous-time)
gyroscope_random_walk: 0.000004 #Bias random walk
rostopic: /camera/imu #the IMU ROS topic
update_rate: 400.0 #Hz (for discretization of the values above)