Autonomy

Installation

Prerequisite: Getting Started

Install Realsense Drivers

Jetson instructions:

Shown here.

Non-Jetson instructions:

Modified from here

• Register the server's public key:

sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE

• Add the server to the list of repositories:

sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic main" -u

• Install the libraries (see section below if upgrading packages):
  sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils
  The above two lines will deploy librealsense2 udev rules, build and activate kernel modules, runtime library and executable demos and tools.

• Install the developer and debug packages:
  sudo apt-get install librealsense2-dev
sudo apt-get install librealsense2-dbg
  With dev package installed, you can compile an application with librealsense using g++ -std=c++11 filename.cpp -lrealsense2 or an IDE of your choice.

Reconnect the Intel RealSense depth camera and run: realsense-viewer to verify the installation.

Verify that the kernel is updated :
modinfo uvcvideo | grep "version:" should include realsense string

Install RTAB-Map and RealSense2 ROS

sudo apt install ros-melodic-rtabmap-ros ros-melodic-realsense2-camera ros-melodic-imu-filter-madgwick

Running

Run: