Setting up the RealSense [Mukilank] - MukilanKarthikeyan/RoboRacing_GT GitHub Wiki

[2024.03.04] To run the subscriber navigate to the workspace and run

colcon build --packages-select rr_lane_detection_image

and then source the setup files with

. install/setup.bash

then to start and run the package:

ros2 run rr_lane_detection_image listener

or in the general case: ros2 run <package-name> <console-script> AND THE CAMERA WORKS! HELLO YEAH

[2024.03.03] get rid of map error by changing the global variable to camera link to get images that are being published and view them on rviz2 add an image topic by clicking add going to by topic going to the camera and choosing the image node. same with the depth camera. [2024.02.25 T]

source ros run realsense camera run rviz2

[2024.02.19 T8:54] Learned that because the real sense d435 does not have an IMU, it must use an external one the D435i has everything needed for motion tracking integrated. (will use this for now, we do have an IMU that we can set up but will need to work on it as an external)

Ros2 slam is poorly documented so I shall try to work with ros1 packages to get the 3d point clouds

MUST RUN:

source /opt.ros/foxy/setup.bash 

before ros commands now start the realsense camera with command

ros2 launch realsense2_camera rs_launch.py

then hit ros2 topic list on separate terminal to find all topics previous sourcing (in the .bashrc file)

export ISAAC_ROS_WS=/home/roboracing/workspaces/issac_ros-dev/
source /opt/ros/foxy/setup.bash
export ROS_DOMAIN_ID=0
export ROS_LOCALHOST_ONLY=1
source ~/roboracing-s2024/ros2_ws/install/setup.bash

[2024.02.11 T5:15] Found an RPlidar a2 (need to double-check check model) on the old sedani robot. I am setting up and running the lidar to run SLAM and see where we can go from there.

using https://www.youtube.com/watch?v=PSe4FfNzmkA&t=10s to set up the github repo I am using for slam: https://github.com/Slamtec/sllidar_ros2

In order to properly run the lidar need to configure ros variables. we shall be using an arbitrarily picked ROS_DOMAIN_ID: 0 have configured ros such that it is only visible to localhost thus no other device on the local network can see the system ROS2 topics, services, and actions.

I have set up automatic configurations on shell startup in the scripts. in order to launch the lidar run the command:

RealSense depth camera d435 https://intel.github.io/robot_devkit_doc/pages/rs_slam.html