Skip to content

Latest commit

 

History

History
359 lines (267 loc) · 9.3 KB

InstallationGuide.md

File metadata and controls

359 lines (267 loc) · 9.3 KB
Raw

Installations

Install ROS Melodic If you haven't

on Computers

See http://wiki.ros.org/melodic/Installation.

on Nvidia Jetson

See https://github.com/jetsonhacks/installROS.

./installROS.sh -p ros-melodic-desktop-full -p ros-melodic-rgbd-launch

Install Jet-Pack (Nvidia Jetson only) If you haven't

sudo apt update
sudo apt install nvidia-jetpack

Install OpenCV with CUDA acceleration

cd ~
git clone https://github.com/opencv/opencv_contrib.git
cd opencv_contrib
git checkout tags/4.5.2
cd ..
git clone https://github.com/opencv/opencv.git
cd opencv
git checkout tags/4.5.2
mkdir build
cd build

##Change according to cuda/gcc version
cmake --clean-first \
-D CMAKE_BUILD_TYPE=RELEASE \
-D CMAKE_INSTALL_PREFIX=/usr/local \
-D OPENCV_EXTRA_MODULES_PATH=~/opencv_contrib/modules \
-D EIGEN_INCLUDE_PATH=/usr/include/eigen3 \
-D WITH_OPENCL=ON \
-D WITH_CUDA=ON \
-D CUDA_ARCH_BIN=7.2 \
-D WITH_CUDNN=ON \
-D CUDNN_VERSION='8.0' \
-D WITH_CUBLAS=ON \
-D ENABLE_FAST_MATH=ON \
-D CUDA_FAST_MATH=ON \
-D OPENCV_DNN_CUDA=ON \
-D ENABLE_NEON=ON \
-D BUILD_opencv_cudacodec=ON \
-D WITH_QT=OFF \
-D WITH_OPENMP=ON \
-D WITH_OPENGL=ON \
-D BUILD_TIFF=ON \
-D WITH_FFMPEG=ON \
-D WITH_GSTREAMER=ON \
-D WITH_TBB=ON \
-D BUILD_TBB=ON \
-D BUILD_TESTS=OFF \
-D WITH_EIGEN=ON \
-D WITH_V4L=ON \
-D WITH_LIBV4L=ON \
-D OPENCV_ENABLE_NONFREE=ON \
-D INSTALL_C_EXAMPLES=ON \
-D INSTALL_PYTHON_EXAMPLES=ON \
-D BUILD_NEW_PYTHON_SUPPORT=ON \
-D BUILD_opencv_python3=TRUE \
-D OPENCV_GENERATE_PKGCONFIG=ON \
-D WITH_NVCUVID=ON\
-D BUILD_EXAMPLES=ON ..

########### make will take ~ 2 hours, also make sure ram is not occupied 

make -j6 && make -j6 install

On Nvidia Jetson TX1, TX2

See https://github.com/jetsonhacks?tab=repositories&q=OpenCV&type=&language=&sort= and find the corrsponding repo.

Install K4A SDK and K4A ROS wrapper

For Azure Kinect

See Here the setup guide of K4A (PC only) For Jetson and other ARM architecture, go google yourself

Install KinectV2 SDK and K2 ROS wrapper

For Kinect V2

See Here the setup guide of K2

Install Intel RealSense SDK and Realsense ROS wrapper

If you are using D435/D455/L515, you need Intel RealSense SDK.

Install Intel RealSense SDK

Intel RealSense update insanely quick so I would not recommend using a script to install it.

on Linux Computers

See https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md

on Nvidia Jetson

Install Jetpack

sudo apt update
###Dont install nvidia-jetpack in a docker container###
sudo apt install nvidia-jetpack

Get dependencies if you don't have yet

apt install -y python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential 

rosdep init
rosdep update
 
pip3 install cython flake8 pylint atlas empy
###This will take a very long time (~ 2 hour), may seem to be stuck but it is not (pip is not multi-threaded)
pip3 -vvvvv install numpy pandas pycuda cupy
sudo apt-get install libgtkglext1 libgtkglext1-dev

build Install OpenCV (GPU version)

cd ~
git clone https://github.com/opencv/opencv_contrib.git
cd opencv_contrib
git checkout tags/4.5.2
cd ..
git clone https://github.com/opencv/opencv.git
cd opencv
git checkout tags/4.5.2
mkdir build
cd build

##Change according to cuda/gcc version
cmake --clean-first \
-D CMAKE_BUILD_TYPE=RELEASE \
-D CMAKE_INSTALL_PREFIX=/usr/local \
-D OPENCV_EXTRA_MODULES_PATH=~/opencv_contrib/modules \
-D EIGEN_INCLUDE_PATH=/usr/include/eigen3 \
-D WITH_OPENCL=ON \
-D WITH_CUDA=ON \
-D CUDA_ARCH_BIN=7.2 \
-D WITH_CUDNN=ON \
-D CUDNN_VERSION='8.0' \
-D WITH_CUBLAS=ON \
-D ENABLE_FAST_MATH=ON \
-D CUDA_FAST_MATH=ON \
-D OPENCV_DNN_CUDA=ON \
-D ENABLE_NEON=ON \
-D BUILD_opencv_cudacodec=ON \
-D WITH_QT=ON \
-D WITH_OPENMP=ON \
-D WITH_OPENGL=ON \
-D BUILD_TIFF=ON \
-D WITH_FFMPEG=ON \
-D WITH_GSTREAMER=ON \
-D WITH_TBB=ON \
-D BUILD_TBB=ON \
-D BUILD_TESTS=OFF \
-D WITH_EIGEN=ON \
-D WITH_V4L=ON \
-D WITH_LIBV4L=ON \
-D OPENCV_ENABLE_NONFREE=ON \
-D INSTALL_C_EXAMPLES=ON \
-D INSTALL_PYTHON_EXAMPLES=ON \
-D BUILD_NEW_PYTHON_SUPPORT=ON \
-D BUILD_opencv_python2=ON \
-D BUILD_opencv_python3=ON \
-D OPENCV_GENERATE_PKGCONFIG=ON \
-D WITH_NVCUVID=ON\
-D BUILD_EXAMPLES=ON ..

########### make will take ~ 2 hours, also make sure ram is not occupied 

make -j6 && make -j6 install

Config paths

#############################################
apt install -y libssl-dev libusb-1.0-0-dev pkg-config build-essential cmake cmake-curses-gui libgtk-3-dev libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev qtcreator python3 python3-dev apt-utils

export PATH='/usr/local/cuda-10.2/bin:$PATH'
export LD_LIBRARY_PATH='$LD_LIBRARY_PATH:/usr/local/cuda-10.2/lib64'
export PYTHONPATH="$PYTHONPATH:/usr/local/lib"
/opt/ros/melodic/lib/python2.7/dist-packages:/usr/local/lib:/usr/local/lib/python3.6/pyrealsense2/:/usr/local/lib


#end#
## The above needs to be changed according to cuda version and path##

Download RealSense SDK and build

cd ~
git clone https://github.com/IntelRealSense/librealsense.git
cd librealsense/
git checkout v2.45.0


##kernel patch, see https://github.com/IntelRealSense/librealsense/blob/v2.45.0/doc/installation_jetson.md##
#########Only do this on the host nx, do not run the script in the docker instance#########
./scripts/patch-realsense-ubuntu-L4T.sh  
####################################################################################

./scripts/setup_udev_rules.sh  

mkdir build
cd build

/usr/bin/cmake ../ -DBUILD_EXAMPLES=true -DCMAKE_BUILD_TYPE=release -DBUILD_PYTHON_BINDINGS=bool:true -DFORCE_RSUSB_BACKEND=false -DBUILD_WITH_CUDA=true
sudo make -j6 && sudo make install
cp config/99-realsense-libusb.rules /etc/udev/rules.d/

##add the pyrealsense lib path, change accordingly to python version##
export 'PYTHONPATH="$PYTHONPATH:/usr/local/lib/python3.6/pyrealsense2/"' >> ~/.profile
source ~/.bashrc

Reboot the Jetson

Finally set up ROS environment

##after reboot the jetson nx#
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make
cd src/

# See Install Intel RealSense ROS Wrapper part
git clone https://github.com/IntelRealSense/realsense-ros.git
cd realsense-ros/
git checkout 2.3.0
cd ../

git clone https://github.com/pal-robotics/ddynamic_reconfigure.git
cd ddynamic_reconfigure/
git checkout 0.4.1
cd ../


git clone https://github.com/MartinNievas/vision_opencv.git
cd vision_opencv/
git checkout compile_oCV4
cd ../


catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/aarch64-linux-gnu/libpython3.6m.so -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release

catkin_make install
export PYTHONPATH=/usr/local/lib/python3.6/dist-packages/:/usr/lib/python3.6/dist-packages/:/opt/ros/melodic/lib/python2.7/dist-packages:/opt/ros/melodic/lib/python2.7/dist-packages:/usr/local/lib:/usr/local/lib/python3.6/pyrealsense2/

echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

Install Intel RealSense ROS Wrapper

You need:

  • ROS
  • RealSense SDK

MAKE SURE THE ROS Wrapper Match the version of RealSense SDK. otherwise you might encounter this error: RealSense SDK 2.0 is not detected in realsense-ros/realsense2_camera even it is installed

Create a catkin workspace if you haven't

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src/

Specifically, make sure that the ros package ddynamic_reconfigure is installed. If you haven't install it through APT:

git clone https://github.com/pal-robotics/ddynamic_reconfigure.git

Get ros package Realsense ROS

git clone https://github.com/IntelRealSense/realsense-ros.git
cd realsense-ros/

#We use 2.21 for LibRealSense SDK v2.41.0
git checkout 2.2.21

#Instead of
#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

If you haven't put it into source

echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

More info of RealSense ROS Wrapper

Python Wrapper of Realsense

The pyrealsense2 package is a official wrapper which does support RealSense SDK 2.0.

Get pip3 if you don't have it yet

sudo apt install python3-pip

Linux PC environment

For PC environment

pip3 install pyrealsense2

Jetson and other ARM architecture

For Jetson and other ARM architecture, you need to get the whl file. Get it from here: https://pypi.org/project/pyrealsense2-aarch64/#files Then:

pip3 install ~/Downloads/pyrealsense2_aarch64-2.23.0-cp36-none-any.whl