D455 Ros && Fast_livo && R2live && Rtabmap

 

Part_1: 安装librealsense SDK2.0
注册密钥
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE

sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE

添加服务器地址
sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u

安装库
sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils
sudo apt-get install librealsense2-dev

打开显示界面验证
realsense-viewer

Part_2: 安装realsense-ros

sudo apt-get install ros-melodic-ddynamic-reconfigure

安装源码
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src/
git clone https://github.com/IntelRealSense/realsense-ros.git
cd realsense-ros/
git checkout `git tag | sort -V | grep -P "^2.\d+\.\d+" | tail -1`
cd ..

catkin_init_workspace
cd ..
catkin_make clean
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
catkin_make install

添加路径到工作环境
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

验证安装
sudo apt-get install ros-melodic-rgbd-launch

roslaunch realsense2_camera rs_camera.launch
roslaunch realsense2_camera rs_rgbd.launch

################### fast-livo ######################

catkin_make -DCATKIN_WHITELIST_PACKAGES="vikit_common"
catkin_make -DCATKIN_WHITELIST_PACKAGES="vikit_py"
catkin_make -DCATKIN_WHITELIST_PACKAGES="vikit_ros"
catkin_make -DCATKIN_WHITELIST_PACKAGES="livox_ros_driver"
catkin_make -DCATKIN_WHITELIST_PACKAGES="fast_livo"

roslaunch fast_livo mapping_D455.launch

catkin_make -DCATKIN_WHITELIST_PACKAGES="lidar_imu_init"

################### r2live ######################
catkin_make -DCATKIN_WHITELIST_PACKAGES="camera_model"
catkin_make -DCATKIN_WHITELIST_PACKAGES="feature_tracker"
catkin_make -DCATKIN_WHITELIST_PACKAGES="r2live"

roslaunch r2live demo_d455.launch

conflicting declaration ‘typedef struct LZ4_stream_t LZ4_stream_t’解决
终端输入：
sudo mv /usr/include/flann/ext/lz4.h /usr/include/flann/ext/lz4.h.bak
sudo mv /usr/include/flann/ext/lz4hc.h /usr/include/flann/ext/lz4.h.bak

sudo ln -s /usr/include/lz4.h /usr/include/flann/ext/lz4.h
sudo ln -s /usr/include/lz4hc.h /usr/include/flann/ext/lz4hc.h

################ realsense  ##################

roslaunch realsense2_camera rs_aligned_depth.launch
roslaunch realsense2_camera rs_camera.launch
rosrun rviz rviz
rosbag record /camera/depth/color/points /camera/color/image_raw /camera/color/camera_info /camera/extrinsics/depth_to_color /camera/imu

################ rtabmap ros  ##################
cd /opt/ros/melodic/share/rtabmap_ros/launch

##################################
RGB camera Intrinsics
height: 720
width: 1280
D: [-0.05352760851383209, 0.06332883983850479, -0.00045894691720604897, -0.00013421318726614118, -0.020700376480817795]
K: [641.8518676757812, 0.0, 644.54833984375, 0.0, 640.2202758789062, 362.6380920410156, 0.0, 0.0, 1.0]
R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P: [
641.8518676757812, 0.0, 644.54833984375, 0.0, 
0.0, 640.2202758789062, 362.6380920410156, 0.0, 0.0, 
0.0, 1.0, 0.0]

depth_to_camera Extrinsics
rotation: [0.9999993443489075, -0.00036637045559473336, -0.0010879937326535583, 0.00036649202229455113, 0.9999999403953552, 0.0001115313425543718, 0.001087952870875597, -0.00011193000682396814, 0.9999994039535522]
translation: [-0.05935034155845642, -6.53308816254139e-05, 0.00032126676524057984]

rostopic list
/Laser_map
/aft_mapped_to_init
/camera/accel/imu_info
/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/gyro/imu_info
/camera/imu
/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
/cloud_effected
/cloud_registered
/cloud_registered_body
/diagnostics
/livox/imu/async
/path
/rosout
/rosout_agg
/tf
/tf_static

################ RGBD data set #########################
https://cvg.cit.tum.de/data/datasets/rgbd-dataset/download