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Realsense D435i Installation for ROS Noetic on Ubuntu 18.04 and Ubuntu 20.04

In this tutorial I will describe the steps needed to fully install the Realsense D435i on the official Jetson Nano Ubuntu 18.04 distribution and Ubuntu 20.04 , with the latest Nvidia Jetpack installed based on a ROS Noetic deployment. If you don't have such a distribution installed, please complete either the Jetson Nano Ubuntu 18.04 Full Install or the Ubuntu 20.04 Install Through Distribution Upgrade, and the ROS Noetic Install on Jetson Nano for Ubuntu 18.04 and Ubuntu 20.04 tutorials.

The tutorial assumes that the aforementioned installs are done, while it details the steps to properly install librealsense, realsense-ros warpper and the corresponding realsense firmare.

All the steps described in this tutorial are exactly the same for both Ubuntu 18.04 and Ubuntu 20.04.

Please note that the ROS Realsense warpper 2.3.2 that is compatible with ROS Noetic [2] requires librealsense version 2.50.0 [7]. While the recommaned Realsense D435i Ffirmware version is 5.13.0.50 [3].

Librealsense Installation

  1. Disconnect the Realsense USB cable from the Jetson Nano.
  2. Make sure your Jetson is up to date
sudo apt-get update
sudo apt-get upgrade
  1. Librealsense with CUDA 10.2 support requires us to build the library with version 8 for gcc and g++. If you followed Jetson Nano Ubuntu 18.04 Full Install, you can simply select the versions by:
sudo update-alternatives --config gcc
[sudo] password for jetson:
There are 4 choices for the alternative gcc (providing /usr/bin/gcc).

  Selection    Path             Priority   Status
------------------------------------------------------------
* 0            /usr/bin/gcc-11   11        auto mode
  1            /usr/bin/gcc-10   10        manual mode
  2            /usr/bin/gcc-11   11        manual mode
  3            /usr/bin/gcc-7    7         manual mode
  4            /usr/bin/gcc-8    8         manual mode

Press <enter> to keep the current choice[*], or type selection number: 4
sudo update-alternatives --config g++
There are 4 choices for the alternative g++ (providing /usr/bin/g++).

  Selection    Path             Priority   Status
------------------------------------------------------------
* 0            /usr/bin/g++-11   11        auto mode
  1            /usr/bin/g++-10   10        manual mode
  2            /usr/bin/g++-11   11        manual mode
  3            /usr/bin/g++-7    7         manual mode
  4            /usr/bin/g++-8    8         manual mode

Press <enter> to keep the current choice[*], or type selection number: 4
  1. Set the path for CUDA compiler by editing the ~/.bashrc file:
nano ~/.bashrc

and append the following lines to the end of the file:

# cuda 10.2
export CUDA_HOME=/usr/local/cuda
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/cuda/lib64:/usr/local/cuda/extras/CUPTI/lib64
export PATH=$PATH:$CUDA_HOME/bin

then source the file:

source ~/.bashrc
  1. Download the librealsense 2.50.0 realease and uzip the archive:
wget https://github.com/IntelRealSense/librealsense/archive/refs/tags/v2.50.0.zip

unzip v2.50.0.zip
  1. Navigate to librealsense-2.50.0:
cd librealsense-2.50.0
  1. You can try to run the L4T patch script, but it will fail since the latest jetpack is not supported. No worries, it will still work fine, aside from a warining in ROS from the realsense-ros warpper:
./scripts/patch-realsense-ubuntu-L4T.sh
The script patches and applies in-tree kernel modules required for Librealsense SDK

Remove all RealSense cameras attached. Hit any key when ready

[sudo] password for jetson:
Reading package lists... Done
Building dependency tree
Reading state information... Done
build-essential is already the newest version (12.4ubuntu1).
build-essential set to manually installed.
git is already the newest version (1:2.17.1-1ubuntu0.13).
0 upgraded, 0 newly installed, 0 to remove and 13 not upgraded.
200
Jetson Board (proc/device-tree/model): NVIDIA Jetson Nano 2GB Developer Kit
Jetson L4T version: 32.7.3
Unsupported JetPack revision 32.7.3 aborting script
  1. Install the librealsense build prerequisites:
sudo apt-get install git libssl-dev libusb-1.0-0-dev libudev-dev pkg-config libgtk-3-dev -y
  1. Install the udev Realsense access rules:
./scripts/setup_udev_rules.sh
  1. Create a build directory and navigate to it:
mkdir build && cd build
  1. Build and install librealsense:
cmake .. -DBUILD_EXAMPLES=true -DCMAKE_BUILD_TYPE=release -DFORCE_RSUSB_BACKEND=false -DBUILD_WITH_CUDA=true && make -j$(($(nproc)-1)) && sudo make install

Realsense ROS Warpper Install

  1. Make sure your Jetson is up to date
sudo apt-get update
sudo apt-get upgrade
  1. Will be using gcc and g ++ version 10 to build the realsense-ros warpper. If your followed Jetson Nano Ubuntu 18.04 Full Install you can simply select them by:
sudo update-alternatives --config gcc
[sudo] password for jetson:
There are 4 choices for the alternative gcc (providing /usr/bin/gcc).

  Selection    Path             Priority   Status
------------------------------------------------------------
* 0            /usr/bin/gcc-11   11        auto mode
  1            /usr/bin/gcc-10   10        manual mode
  2            /usr/bin/gcc-11   11        manual mode
  3            /usr/bin/gcc-7    7         manual mode
  4            /usr/bin/gcc-8    8         manual mode

Press <enter> to keep the current choice[*], or type selection number: 1
sudo update-alternatives --config g++
There are 4 choices for the alternative g++ (providing /usr/bin/g++).

  Selection    Path             Priority   Status
------------------------------------------------------------
* 0            /usr/bin/g++-11   11        auto mode
  1            /usr/bin/g++-10   10        manual mode
  2            /usr/bin/g++-11   11        manual mode
  3            /usr/bin/g++-7    7         manual mode
  4            /usr/bin/g++-8    8         manual mode

Press <enter> to keep the current choice[*], or type selection number: 1
  1. Create a catkin workspace and navigate into the source folder:
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src/
  1. Clone the realsense-ros repository:
git clone https://github.com/IntelRealSense/realsense-ros.git
  1. Clone the ddynamic_reconfigure repository:
git clone https://github.com/pal-robotics/ddynamic_reconfigure.git
  1. We also need the image_transport_plugins to have the compressed streams available for the warpper. So, clone the noetic-devel branch from ros-perception/image_transport_plugins:
 git clone -b noetic-devel https://github.com/ros-perception/image_transport_plugins.git
  1. Install the necesarry dependencies:
sudo apt-get install libturbojpeg libturbojpeg0-dev libogg0 libogg-dev libtheora0 libtheora-dev
  1. Navigate into the realsense-ros package:
cd ~/catkin_ws/src/realsense-ros/
  1. Checkout the realsense-ros compatible 2.3.2 verison:
git checkout tags/2.3.2 -b 2.3.2
  1. Navigate to the catkin workspace source folder:
cd ~/catkin_ws/src
  1. Initialize the catkin workspace:
catkin_init_workspace
  1. Navigate to the catkin workspace:
cd ~/catkin_ws/
  1. Clean the workspace to see if anything is missing before the build:
catkin_make clean
  1. Build the packages in the catkin workspace:
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
  1. Install the packages:
catkin_make install
  1. Optionally add the catking workspace to bashrc such that it will be sourced on every loggin:
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

Realsense Firmware Install

  1. Make sure you have PC (x86_64) with Ubuntu 20.04 and Realsense properly installed.
  2. Download the on the PC, the Realsense Firmware 5.13.0.50 for librealsense SDK 2.50.0 (see [3] for more details):
wget https://www.intelrealsense.com/download/19295/?_ga=2.152892921.1994987032.1673174169-2104036828.1672302692
  1. Unzip the archive you just downloaded:
unzip D400_Series_FW_5_13_0_50.zip
  1. Fire up realsense-viewer:
realsense-viewer
  1. Connect the Realsense D435i to an USB3.2 of your PC
  2. Close all the module streams (i.e Stero Module, RGB Camera and Motion Module)
  3. Click on the "More" Icon for your Realsense, located in the menu on the lefthand side.
  4. Select "Update Firmware" from the drop-down menu that appears.
  5. Browse to the D400_Series_FW_5_13_0_50 directory of the firmware file you unziped in step 3.
  6. Select the Signed_Image_UVC_5_13_0_50.bin firmware and click "Ok".
  7. Let the process finish, then your done here.

Run Realsense ROS Warpper

  1. If the all the steps above succeded, plug-in the Realsense into an USB 3.2 port of the Jetson Nano. The dmesg command should output something similar to:
[23724.629063] usb 2-1: new SuperSpeed USB device number 4 using tegra-xusb
[23724.649677] usb 2-1: New USB device found, idVendor=8086, idProduct=0b3a
[23724.649682] usb 2-1: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[23724.649686] usb 2-1: Product: Intel(R) RealSense(TM) Depth Camera 435i
[23724.649690] usb 2-1: Manufacturer: Intel(R) RealSense(TM) Depth Camera 435i
[23724.649693] usb 2-1: SerialNumber: 852323051376
[23724.651046] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[23724.652813] uvcvideo: Unable to create debugfs 2-4 directory.
[23724.652968] uvcvideo 2-1:1.0: Entity type for entity Intel(R) RealSense(TM) Depth Ca was not initialized!
[23724.662573] uvcvideo 2-1:1.0: Entity type for entity Processing 2 was not initialized!
[23724.670500] uvcvideo 2-1:1.0: Entity type for entity Camera 1 was not initialized!
[23724.678330] input: Intel(R) RealSense(TM) Depth Ca as /devices/70090000.xusb/usb2/2-1/2-1:1.0/input/input4
[23724.679278] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[23724.680091] uvcvideo: Unable to create debugfs 2-4 directory.
[23724.680213] uvcvideo 2-1:1.3: Entity type for entity Processing 7 was not initialized!
[23724.688158] uvcvideo 2-1:1.3: Entity type for entity Extension 8 was not initialized!
[23724.695997] uvcvideo 2-1:1.3: Entity type for entity Camera 6 was not initialized!
[23724.764771] hid-sensor-hub 0003:8086:0B3A.0003: No report with id 0xffffffff found
[23724.774434] hid-sensor-hub 0003:8086:0B3A.0003: No report with id 0xffffffff found
[23724.840776] hid-sensor-hub 0003:8086:0B3A.0003: No report with id 0xffffffff found
[23724.849703] hid-sensor-hub 0003:8086:0B3A.0003: No report with id 0xffffffff found
[23725.152760] hid-sensor-hub 0003:8086:0B3A.0003: No report with id 0xffffffff found
  1. Launch the realsense-ros warpper with the following arguments:
roslaunch realsense2_camera rs_camera.launch depth_width:=424 depth_height:=240 depth_fps:=15 color_width:=320 color_height:=180 color_fps:=30 infra_width:=424 infra_height:=240 infra_fps:=15 filters:=pointcloud enable_infra1:=True enable_infra2:=True enable_gyro:=True enable_accel:=True align_depth:=True enable_sync:=True

the output shoud be similar to:

... logging to /home/jetson/.ros/log/5371089c-8f77-11ed-a3af-3460f9e7d9c6/roslaunch-nano-antrobot3-9581.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://nano-antrobot3:33435/

SUMMARY
========

PARAMETERS
 * /camera/realsense2_camera/accel_fps: -1
 * /camera/realsense2_camera/accel_frame_id: camera_accel_frame
 * /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti...
 * /camera/realsense2_camera/align_depth: True
 * /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/allow_no_texture_points: False
 * /camera/realsense2_camera/base_frame_id: camera_link
 * /camera/realsense2_camera/calib_odom_file:
 * /camera/realsense2_camera/clip_distance: -2.0
 * /camera/realsense2_camera/color_fps: 30
 * /camera/realsense2_camera/color_frame_id: camera_color_frame
 * /camera/realsense2_camera/color_height: 180
 * /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
 * /camera/realsense2_camera/color_width: 320
 * /camera/realsense2_camera/confidence_fps: -1
 * /camera/realsense2_camera/confidence_height: -1
 * /camera/realsense2_camera/confidence_width: -1
 * /camera/realsense2_camera/depth_fps: 15
 * /camera/realsense2_camera/depth_frame_id: camera_depth_frame
 * /camera/realsense2_camera/depth_height: 240
 * /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
 * /camera/realsense2_camera/depth_width: 424
 * /camera/realsense2_camera/device_type:
 * /camera/realsense2_camera/enable_accel: True
 * /camera/realsense2_camera/enable_color: True
 * /camera/realsense2_camera/enable_confidence: True
 * /camera/realsense2_camera/enable_depth: True
 * /camera/realsense2_camera/enable_fisheye1: False
 * /camera/realsense2_camera/enable_fisheye2: False
 * /camera/realsense2_camera/enable_fisheye: False
 * /camera/realsense2_camera/enable_gyro: True
 * /camera/realsense2_camera/enable_infra1: False
 * /camera/realsense2_camera/enable_infra2: False
 * /camera/realsense2_camera/enable_infra: True
 * /camera/realsense2_camera/enable_pointcloud: False
 * /camera/realsense2_camera/enable_pose: False
 * /camera/realsense2_camera/enable_sync: True
 * /camera/realsense2_camera/filters: pointcloud
 * /camera/realsense2_camera/fisheye1_frame_id: camera_fisheye1_f...
 * /camera/realsense2_camera/fisheye1_optical_frame_id: camera_fisheye1_o...
 * /camera/realsense2_camera/fisheye2_frame_id: camera_fisheye2_f...
 * /camera/realsense2_camera/fisheye2_optical_frame_id: camera_fisheye2_o...
 * /camera/realsense2_camera/fisheye_fps: -1
 * /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
 * /camera/realsense2_camera/fisheye_height: -1
 * /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
 * /camera/realsense2_camera/fisheye_width: -1
 * /camera/realsense2_camera/gyro_fps: -1
 * /camera/realsense2_camera/gyro_frame_id: camera_gyro_frame
 * /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic...
 * /camera/realsense2_camera/imu_optical_frame_id: camera_imu_optica...
 * /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame
 * /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt...
 * /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame
 * /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt...
 * /camera/realsense2_camera/infra_fps: 15
 * /camera/realsense2_camera/infra_height: 240
 * /camera/realsense2_camera/infra_rgb: False
 * /camera/realsense2_camera/infra_width: 424
 * /camera/realsense2_camera/initial_reset: False
 * /camera/realsense2_camera/json_file_path:
 * /camera/realsense2_camera/linear_accel_cov: 0.01
 * /camera/realsense2_camera/odom_frame_id: camera_odom_frame
 * /camera/realsense2_camera/ordered_pc: False
 * /camera/realsense2_camera/pointcloud_texture_index: 0
 * /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
 * /camera/realsense2_camera/pose_frame_id: camera_pose_frame
 * /camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic...
 * /camera/realsense2_camera/publish_odom_tf: True
 * /camera/realsense2_camera/publish_tf: True
 * /camera/realsense2_camera/reconnect_timeout: 6.0
 * /camera/realsense2_camera/rosbag_filename:
 * /camera/realsense2_camera/serial_no:
 * /camera/realsense2_camera/stereo_module/exposure/1: 7500
 * /camera/realsense2_camera/stereo_module/exposure/2: 1
 * /camera/realsense2_camera/stereo_module/gain/1: 16
 * /camera/realsense2_camera/stereo_module/gain/2: 16
 * /camera/realsense2_camera/tf_publish_rate: 0.0
 * /camera/realsense2_camera/topic_odom_in: odom_in
 * /camera/realsense2_camera/unite_imu_method:
 * /camera/realsense2_camera/usb_port_id:
 * /camera/realsense2_camera/wait_for_device_timeout: -1.0
 * /rosdistro: noetic
 * /rosversion: 1.15.15

NODES
  /camera/
    realsense2_camera (nodelet/nodelet)
    realsense2_camera_manager (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [9591]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 5371089c-8f77-11ed-a3af-3460f9e7d9c6
process[rosout-1]: started with pid [9604]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [9621]
process[camera/realsense2_camera-3]: started with pid [9622]
[ INFO] [1673197820.386920889]: Initializing nodelet with 4 worker threads.
[ INFO] [1673197820.598877294]: RealSense ROS v2.3.2
[ INFO] [1673197820.598970786]: Built with LibRealSense v2.50.0
[ INFO] [1673197820.599037402]: Running with LibRealSense v2.50.0
[ INFO] [1673197820.651537873]:
[ INFO] [1673197820.667414976]: Device with serial number 843112071761 was found.

[ INFO] [1673197820.667532270]: Device with physical ID /sys/devices/70090000.xusb/usb2/2-1/2-1:1.0/video4linux/video0 was found.
[ INFO] [1673197820.667599876]: Device with name Intel RealSense D435I was found.
[ INFO] [1673197820.668688179]: Device with port number 2-1 was found.
[ INFO] [1673197820.668791880]: Device USB type: 3.2
[ INFO] [1673197820.682304349]: getParameters...
[ INFO] [1673197820.946129911]: setupDevice...
[ INFO] [1673197820.946221319]: JSON file is not provided
[ INFO] [1673197820.946287258]: ROS Node Namespace: camera
[ INFO] [1673197820.946372989]: Device Name: Intel RealSense D435I
[ INFO] [1673197820.946429865]: Device Serial No: 843112071761
[ INFO] [1673197820.946484189]: Device physical port: /sys/devices/70090000.xusb/usb2/2-1/2-1:1.0/video4linux/video0
[ INFO] [1673197820.946536065]: Device FW version: 05.13.00.50
[ INFO] [1673197820.946588983]: Device Product ID: 0x0B3A
[ INFO] [1673197820.946658099]: Enable PointCloud: On
[ INFO] [1673197820.946707527]: Align Depth: On
[ INFO] [1673197820.946757060]: Sync Mode: On
[ INFO] [1673197820.946885760]: Device Sensors:
[ INFO] [1673197820.957336760]: Stereo Module was found.
[ INFO] [1673197820.977268686]: RGB Camera was found.
[ INFO] [1673197820.977919013]: Motion Module was found.
[ INFO] [1673197820.978037192]: (Infrared, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1673197820.978106881]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1673197820.978937211]: Add Filter: pointcloud
[ INFO] [1673197820.980422971]: num_filters: 2
[ INFO] [1673197820.980512296]: Setting Dynamic reconfig parameters.
[ WARN] [1673197821.142184995]: Param '/camera/rgb_camera/power_line_frequency' has value 3 that is not in the enum { {50Hz: 1} {60Hz: 2} {Disabled: 0} }. Removing this parameter from dynamic reconfigure options.
[ INFO] [1673197821.206801813]: Done Setting Dynamic reconfig parameters.
[ INFO] [1673197821.207679852]: depth stream is enabled - width: 424, height: 240, fps: 15, Format: Z16
[ INFO] [1673197821.208401742]: color stream is enabled - width: 320, height: 180, fps: 30, Format: RGB8
[ INFO] [1673197821.209274521]: gyro stream is enabled - fps: 200
[ INFO] [1673197821.209368586]: accel stream is enabled - fps: 63
[ INFO] [1673197821.209464421]: setupPublishers...
[ INFO] [1673197821.218529558]: Expected frequency for depth = 15.00000
[ INFO] [1673197821.349248382]: Expected frequency for color = 30.00000
[ INFO] [1673197821.464782045]: Expected frequency for aligned_depth_to_color = 30.00000
[ INFO] [1673197821.589860594]: setupStreams...
 08/01 19:10:21,593 WARNING [547638169984] (ds5-motion.cpp:473) IMU Calibration is not available, default intrinsic and extrinsic will be used.
[ INFO] [1673197821.667648781]: SELECTED BASE:Depth, 0
[ INFO] [1673197821.719563199]: RealSense Node Is Up!
[ WARN] [1673197821.723084157]:

Note that the:

[ WARN] [1673197821.142184995]: Param '/camera/rgb_camera/power_line_frequency' has value 3 that is not in the enum { {50Hz: 1} {60Hz: 2} {Disabled: 0} }. Removing this parameter from dynamic reconfigure options.

is due to the lack of a kernel patch.

  1. Running rostopic list yiels the following:
/camera/accel/imu_info
/camera/accel/metadata
/camera/accel/sample
/camera/align_to_color/parameter_descriptions
/camera/align_to_color/parameter_updates
/camera/aligned_depth_to_color/camera_info
/camera/aligned_depth_to_color/image_raw
/camera/aligned_depth_to_color/image_raw/compressed
/camera/aligned_depth_to_color/image_raw/compressed/parameter_descriptions
/camera/aligned_depth_to_color/image_raw/compressed/parameter_updates
/camera/aligned_depth_to_color/image_raw/compressedDepth
/camera/aligned_depth_to_color/image_raw/compressedDepth/parameter_descriptions
/camera/aligned_depth_to_color/image_raw/compressedDepth/parameter_updates
/camera/aligned_depth_to_color/image_raw/theora
/camera/aligned_depth_to_color/image_raw/theora/parameter_descriptions
/camera/aligned_depth_to_color/image_raw/theora/parameter_updates
/camera/color/camera_info
/camera/color/image_raw
/camera/color/image_raw/compressed
/camera/color/image_raw/compressed/parameter_descriptions
/camera/color/image_raw/compressed/parameter_updates
/camera/color/image_raw/compressedDepth
/camera/color/image_raw/compressedDepth/parameter_descriptions
/camera/color/image_raw/compressedDepth/parameter_updates
/camera/color/image_raw/theora
/camera/color/image_raw/theora/parameter_descriptions
/camera/color/image_raw/theora/parameter_updates
/camera/color/metadata
/camera/depth/camera_info
/camera/depth/color/points
/camera/depth/image_rect_raw
/camera/depth/image_rect_raw/compressed
/camera/depth/image_rect_raw/compressed/parameter_descriptions
/camera/depth/image_rect_raw/compressed/parameter_updates
/camera/depth/image_rect_raw/compressedDepth
/camera/depth/image_rect_raw/compressedDepth/parameter_descriptions
/camera/depth/image_rect_raw/compressedDepth/parameter_updates
/camera/depth/image_rect_raw/theora
/camera/depth/image_rect_raw/theora/parameter_descriptions
/camera/depth/image_rect_raw/theora/parameter_updates
/camera/depth/metadata
/camera/extrinsics/depth_to_color
/camera/extrinsics/depth_to_infra1
/camera/extrinsics/depth_to_infra2
/camera/gyro/imu_info
/camera/gyro/metadata
/camera/gyro/sample
/camera/infra1/camera_info
/camera/infra1/image_rect_raw
/camera/infra1/image_rect_raw/compressed
/camera/infra1/image_rect_raw/compressed/parameter_descriptions
/camera/infra1/image_rect_raw/compressed/parameter_updates
/camera/infra1/image_rect_raw/compressedDepth
/camera/infra1/image_rect_raw/compressedDepth/parameter_descriptions
/camera/infra1/image_rect_raw/compressedDepth/parameter_updates
/camera/infra1/image_rect_raw/theora
/camera/infra1/image_rect_raw/theora/parameter_descriptions
/camera/infra1/image_rect_raw/theora/parameter_updates
/camera/infra1/metadata
/camera/infra2/camera_info
/camera/infra2/image_rect_raw
/camera/infra2/image_rect_raw/compressed
/camera/infra2/image_rect_raw/compressed/parameter_descriptions
/camera/infra2/image_rect_raw/compressed/parameter_updates
/camera/infra2/image_rect_raw/compressedDepth
/camera/infra2/image_rect_raw/compressedDepth/parameter_descriptions
/camera/infra2/image_rect_raw/compressedDepth/parameter_updates
/camera/infra2/image_rect_raw/theora
/camera/infra2/image_rect_raw/theora/parameter_descriptions
/camera/infra2/image_rect_raw/theora/parameter_updates
/camera/infra2/metadata
/camera/motion_module/parameter_descriptions
/camera/motion_module/parameter_updates
/camera/pointcloud/parameter_descriptions
/camera/pointcloud/parameter_updates
/camera/realsense2_camera_manager/bond
/camera/rgb_camera/auto_exposure_roi/parameter_descriptions
/camera/rgb_camera/auto_exposure_roi/parameter_updates
/camera/rgb_camera/parameter_descriptions
/camera/rgb_camera/parameter_updates
/camera/stereo_module/auto_exposure_roi/parameter_descriptions
/camera/stereo_module/auto_exposure_roi/parameter_updates
/camera/stereo_module/parameter_descriptions
/camera/stereo_module/parameter_updates
/diagnostics
/rosout
/rosout_agg
/tf
/tf_static
  1. If you run rviz directly on the nano or you configure it to run in a multiple machine ROS environment, you should be able to get a result similar to the one in the image below:

rviz-realsense-screenshot

  1. That's it. It works!

Realsense ROS Stream Resolution Configuration Options

To provide the configuration options when you launch the realsense warpper the argument format is as follows:

roslaunch realsense2_camera rs_camera.launch <stream-name>_width:=option <stream-name>_height:=option <stream-name>_fps:=option

For example to set the RGB camera color stream to run at 320x180 @ 30fps you can do the following:

roslaunch realsense2_camera rs_camera.launch color_width:=320 color_height:=180 color_fps:=30

Infrared Stream

Infrared 2 1280x800 @ 30Hz Y8
Infrared 1 1280x800 @ 30Hz Y8
Infrared 1 1280x800 @ 25Hz Y16
Infrared 2 1280x800 @ 25Hz Y16
Infrared 2 1280x800 @ 15Hz Y16
Infrared 1 1280x800 @ 15Hz Y16
Infrared 1 1280x800 @ 15Hz Y8
Infrared 2 1280x800 @ 15Hz Y8
Infrared 1 1280x720 @ 30Hz Y8
Infrared 2 1280x720 @ 30Hz Y8
Infrared 2 1280x720 @ 15Hz Y8
Infrared 1 1280x720 @ 15Hz Y8
Infrared 1 1280x720 @ 6Hz Y8
Infrared 2 1280x720 @ 6Hz Y8
Infrared 2 848x480 @ 90Hz Y8
Infrared 1 848x480 @ 90Hz Y8
Infrared 2 848x480 @ 60Hz Y8
Infrared 1 848x480 @ 60Hz Y8
Infrared 2 848x480 @ 30Hz Y8
Infrared 1 848x480 @ 30Hz Y8
Infrared 2 848x480 @ 15Hz Y8
Infrared 1 848x480 @ 15Hz Y8
Infrared 2 848x480 @ 6Hz Y8
Infrared 1 848x480 @ 6Hz Y8
Infrared 2 640x480 @ 90Hz Y8
Infrared 1 640x480 @ 90Hz Y8
Infrared 2 640x480 @ 60Hz Y8
Infrared 1 640x480 @ 60Hz Y8
Infrared 1 640x480 @ 30Hz Y8
Infrared 2 640x480 @ 30Hz Y8
Infrared 1 640x480 @ 15Hz Y8
Infrared 2 640x480 @ 15Hz Y8
Infrared 2 640x480 @ 6Hz Y8
Infrared 1 640x480 @ 6Hz Y8
Infrared 1 640x400 @ 25Hz Y16
Infrared 2 640x400 @ 25Hz Y16
Infrared 1 640x400 @ 15Hz Y16
Infrared 2 640x400 @ 15Hz Y16
Infrared 2 640x360 @ 90Hz Y8
Infrared 1 640x360 @ 90Hz Y8
Infrared 1 640x360 @ 60Hz Y8
Infrared 2 640x360 @ 60Hz Y8
Infrared 1 640x360 @ 30Hz Y8
Infrared 2 640x360 @ 30Hz Y8
Infrared 2 640x360 @ 15Hz Y8
Infrared 1 640x360 @ 15Hz Y8
Infrared 1 640x360 @ 6Hz Y8
Infrared 2 640x360 @ 6Hz Y8
Infrared 2 480x270 @ 90Hz Y8
Infrared 1 480x270 @ 90Hz Y8
Infrared 1 480x270 @ 60Hz Y8
Infrared 2 480x270 @ 60Hz Y8
Infrared 1 480x270 @ 30Hz Y8
Infrared 2 480x270 @ 30Hz Y8
Infrared 2 480x270 @ 15Hz Y8
Infrared 1 480x270 @ 15Hz Y8
Infrared 1 480x270 @ 6Hz Y8
Infrared 2 480x270 @ 6Hz Y8
Infrared 1 424x240 @ 90Hz Y8
Infrared 2 424x240 @ 90Hz Y8
Infrared 2 424x240 @ 60Hz Y8
Infrared 1 424x240 @ 60Hz Y8
Infrared 2 424x240 @ 30Hz Y8
Infrared 1 424x240 @ 30Hz Y8
Infrared 1 424x240 @ 15Hz Y8
Infrared 2 424x240 @ 15Hz Y8
Infrared 2 424x240 @ 6Hz Y8
Infrared 1 424x240 @ 6Hz Y8

Depth Stream

Depth 1280x720 @ 30Hz Z16
Depth 1280x720 @ 15Hz Z16
Depth 1280x720 @ 6Hz Z16
Depth 848x480 @ 90Hz Z16
Depth 848x480 @ 60Hz Z16
Depth 848x480 @ 30Hz Z16
Depth 848x480 @ 15Hz Z16
Depth 848x480 @ 6Hz Z16
Depth 640x480 @ 90Hz Z16
Depth 640x480 @ 60Hz Z16
Depth 640x480 @ 30Hz Z16
Depth 640x480 @ 15Hz Z16
Depth 640x480 @ 6Hz Z16
Depth 640x360 @ 90Hz Z16
Depth 640x360 @ 60Hz Z16
Depth 640x360 @ 30Hz Z16
Depth 640x360 @ 15Hz Z16
Depth 640x360 @ 6Hz Z16
Depth 480x270 @ 90Hz Z16
Depth 480x270 @ 60Hz Z16
Depth 480x270 @ 30Hz Z16
Depth 480x270 @ 15Hz Z16
Depth 480x270 @ 6Hz Z16
Depth 424x240 @ 90Hz Z16
Depth 424x240 @ 60Hz Z16
Depth 424x240 @ 30Hz Z16
Depth 424x240 @ 15Hz Z16
Depth 424x240 @ 6Hz Z16

Color Stream

Color 1920x1080 @ 30Hz RGB8
Color 1920x1080 @ 30Hz RAW16
Color 1920x1080 @ 30Hz Y16
Color 1920x1080 @ 30Hz BGRA8
Color 1920x1080 @ 30Hz RGBA8
Color 1920x1080 @ 30Hz BGR8
Color 1920x1080 @ 30Hz YUYV
Color 1920x1080 @ 15Hz RGB8
Color 1920x1080 @ 15Hz Y16
Color 1920x1080 @ 15Hz BGRA8
Color 1920x1080 @ 15Hz RGBA8
Color 1920x1080 @ 15Hz BGR8
Color 1920x1080 @ 15Hz YUYV
Color 1920x1080 @ 6Hz RGB8
Color 1920x1080 @ 6Hz Y16
Color 1920x1080 @ 6Hz BGRA8
Color 1920x1080 @ 6Hz RGBA8
Color 1920x1080 @ 6Hz BGR8
Color 1920x1080 @ 6Hz YUYV
Color 1280x720 @ 30Hz RGB8
Color 1280x720 @ 30Hz Y16
Color 1280x720 @ 30Hz BGRA8
Color 1280x720 @ 30Hz RGBA8
Color 1280x720 @ 30Hz BGR8
Color 1280x720 @ 30Hz YUYV
Color 1280x720 @ 15Hz RGB8
Color 1280x720 @ 15Hz Y16
Color 1280x720 @ 15Hz BGRA8
Color 1280x720 @ 15Hz RGBA8
Color 1280x720 @ 15Hz BGR8
Color 1280x720 @ 15Hz YUYV
Color 1280x720 @ 6Hz RGB8
Color 1280x720 @ 6Hz Y16
Color 1280x720 @ 6Hz BGRA8
Color 1280x720 @ 6Hz RGBA8
Color 1280x720 @ 6Hz BGR8
Color 1280x720 @ 6Hz YUYV
Color 960x540 @ 60Hz RGB8
Color 960x540 @ 60Hz Y16
Color 960x540 @ 60Hz BGRA8
Color 960x540 @ 60Hz RGBA8
Color 960x540 @ 60Hz BGR8
Color 960x540 @ 60Hz YUYV
Color 960x540 @ 30Hz RGB8
Color 960x540 @ 30Hz Y16
Color 960x540 @ 30Hz BGRA8
Color 960x540 @ 30Hz RGBA8
Color 960x540 @ 30Hz BGR8
Color 960x540 @ 30Hz YUYV
Color 960x540 @ 15Hz RGB8
Color 960x540 @ 15Hz Y16
Color 960x540 @ 15Hz BGRA8
Color 960x540 @ 15Hz RGBA8
Color 960x540 @ 15Hz BGR8
Color 960x540 @ 15Hz YUYV
Color 960x540 @ 6Hz RGB8
Color 960x540 @ 6Hz Y16
Color 960x540 @ 6Hz BGRA8
Color 960x540 @ 6Hz RGBA8
Color 960x540 @ 6Hz BGR8
Color 960x540 @ 6Hz YUYV
Color 848x480 @ 60Hz RGB8
Color 848x480 @ 60Hz Y16
Color 848x480 @ 60Hz BGRA8
Color 848x480 @ 60Hz RGBA8
Color 848x480 @ 60Hz BGR8
Color 848x480 @ 60Hz YUYV
Color 848x480 @ 30Hz RGB8
Color 848x480 @ 30Hz Y16
Color 848x480 @ 30Hz BGRA8
Color 848x480 @ 30Hz RGBA8
Color 848x480 @ 30Hz BGR8
Color 848x480 @ 30Hz YUYV
Color 848x480 @ 15Hz RGB8
Color 848x480 @ 15Hz Y16
Color 848x480 @ 15Hz BGRA8
Color 848x480 @ 15Hz RGBA8
Color 848x480 @ 15Hz BGR8
Color 848x480 @ 15Hz YUYV
Color 848x480 @ 6Hz RGB8
Color 848x480 @ 6Hz Y16
Color 848x480 @ 6Hz BGRA8
Color 848x480 @ 6Hz RGBA8
Color 848x480 @ 6Hz BGR8
Color 848x480 @ 6Hz YUYV
Color 640x480 @ 60Hz RGB8
Color 640x480 @ 60Hz Y16
Color 640x480 @ 60Hz BGRA8
Color 640x480 @ 60Hz RGBA8
Color 640x480 @ 60Hz BGR8
Color 640x480 @ 60Hz YUYV
Color 640x480 @ 30Hz RGB8
Color 640x480 @ 30Hz Y16
Color 640x480 @ 30Hz BGRA8
Color 640x480 @ 30Hz RGBA8
Color 640x480 @ 30Hz BGR8
Color 640x480 @ 30Hz YUYV
Color 640x480 @ 15Hz RGB8
Color 640x480 @ 15Hz Y16
Color 640x480 @ 15Hz BGRA8
Color 640x480 @ 15Hz RGBA8
Color 640x480 @ 15Hz BGR8
Color 640x480 @ 15Hz YUYV
Color 640x480 @ 6Hz RGB8
Color 640x480 @ 6Hz Y16
Color 640x480 @ 6Hz BGRA8
Color 640x480 @ 6Hz RGBA8
Color 640x480 @ 6Hz BGR8
Color 640x480 @ 6Hz YUYV
Color 640x360 @ 60Hz RGB8
Color 640x360 @ 60Hz Y16
Color 640x360 @ 60Hz BGRA8
Color 640x360 @ 60Hz RGBA8
Color 640x360 @ 60Hz BGR8
Color 640x360 @ 60Hz YUYV
Color 640x360 @ 30Hz RGB8
Color 640x360 @ 30Hz Y16
Color 640x360 @ 30Hz BGRA8
Color 640x360 @ 30Hz RGBA8
Color 640x360 @ 30Hz BGR8
Color 640x360 @ 30Hz YUYV
Color 640x360 @ 15Hz RGB8
Color 640x360 @ 15Hz Y16
Color 640x360 @ 15Hz BGRA8
Color 640x360 @ 15Hz RGBA8
Color 640x360 @ 15Hz BGR8
Color 640x360 @ 15Hz YUYV
Color 640x360 @ 6Hz RGB8
Color 640x360 @ 6Hz Y16
Color 640x360 @ 6Hz BGRA8
Color 640x360 @ 6Hz RGBA8
Color 640x360 @ 6Hz BGR8
Color 640x360 @ 6Hz YUYV
Color 424x240 @ 60Hz RGB8
Color 424x240 @ 60Hz Y16
Color 424x240 @ 60Hz BGRA8
Color 424x240 @ 60Hz RGBA8
Color 424x240 @ 60Hz BGR8
Color 424x240 @ 60Hz YUYV
Color 424x240 @ 30Hz RGB8
Color 424x240 @ 30Hz Y16
Color 424x240 @ 30Hz BGRA8
Color 424x240 @ 30Hz RGBA8
Color 424x240 @ 30Hz BGR8
Color 424x240 @ 30Hz YUYV
Color 424x240 @ 15Hz RGB8
Color 424x240 @ 15Hz Y16
Color 424x240 @ 15Hz BGRA8
Color 424x240 @ 15Hz RGBA8
Color 424x240 @ 15Hz BGR8
Color 424x240 @ 15Hz YUYV
Color 424x240 @ 6Hz RGB8
Color 424x240 @ 6Hz Y16
Color 424x240 @ 6Hz BGRA8
Color 424x240 @ 6Hz RGBA8
Color 424x240 @ 6Hz BGR8
Color 424x240 @ 6Hz YUYV
Color 320x240 @ 60Hz RGB8
Color 320x240 @ 60Hz Y16
Color 320x240 @ 60Hz BGRA8
Color 320x240 @ 60Hz RGBA8
Color 320x240 @ 60Hz BGR8
Color 320x240 @ 60Hz YUYV
Color 320x240 @ 30Hz RGB8
Color 320x240 @ 30Hz Y16
Color 320x240 @ 30Hz BGRA8
Color 320x240 @ 30Hz RGBA8
Color 320x240 @ 30Hz BGR8
Color 320x240 @ 30Hz YUYV
Color 320x240 @ 6Hz RGB8
Color 320x240 @ 6Hz Y16
Color 320x240 @ 6Hz BGRA8
Color 320x240 @ 6Hz RGBA8
Color 320x240 @ 6Hz BGR8
Color 320x240 @ 6Hz YUYV
Color 320x180 @ 60Hz RGB8
Color 320x180 @ 60Hz Y16
Color 320x180 @ 60Hz BGRA8
Color 320x180 @ 60Hz RGBA8
Color 320x180 @ 60Hz BGR8
Color 320x180 @ 60Hz YUYV
Color 320x180 @ 30Hz RGB8
Color 320x180 @ 30Hz Y16
Color 320x180 @ 30Hz BGRA8
Color 320x180 @ 30Hz RGBA8
Color 320x180 @ 30Hz BGR8
Color 320x180 @ 30Hz YUYV
Color 320x180 @ 6Hz RGB8
Color 320x180 @ 6Hz Y16
Color 320x180 @ 6Hz BGRA8
Color 320x180 @ 6Hz RGBA8
Color 320x180 @ 6Hz BGR8
Color 320x180 @ 6Hz YUYV

Notes

  1. At this time for jetpacks above 4.4.1 there is no librealsense linux kernel patch. While the realsense will function as expected, you may receive some warnings when luanching the realsense ros warpper node.
  2. gcc, g++, clang version 8 and 9 contain a bug regarnding aarch64 architectures, see [8-10] for more details.

References

  1. Librealsense NVidia Jetson Devices
  2. ROS Wrapper for Intel® RealSense™ Devices
  3. Firmware releases D400
  4. ddynamic_reconfigure package
  5. image_transport_plugins
  6. Different Resolution for depth and color stream to make camera working
  7. Librealsense releases
  8. gcc 9: aarch64 -ftree-loop-vectorize results in wrong code
  9. Issue ROS crash on Raspberry Pi 4B with a very simple program
  10. Demo ROS crash on Raspberry Pi 4B with a very simple program