Additional Packages - ethz-asl/dji_onboard_sdk_ros GitHub Wiki

This page describes to install additional packages for use with the DJI ROS SDK framework.

librealseanse

  1. Clone the official librealsense repo. Note that we force the commit version in order to avoid possible version conflicts.
$cd ~
$git clone https://github.com/IntelRealSense/librealsense

We check out the master branch.

$cd librealsense
$git reset --hard 6626123bf36ff4e6399081a6972d547ef6498bef

The command above checkouts the particular version (1.11.0). You should see console output:

“HEAD is now at 6626123 Merge pull request #325 from mdhorn/debian-error-msgs”
$mkdir build
$cd build
$cmake -DCMAKE_INSTALL_LIBDIR=lib ..

Note to include the two dots at the above command, referring to the ../CMAKELIST.txt file.

  1. Run the installation:
$make -j8
$sudo make install

After these steps, you should be able to see the console output below:

...
[100%] Built target offline-test
Install the project...
-- Install configuration: ""
-- Installing: /usr/local/_setup_util.py
-- Installing: /usr/local/env.sh
-- Installing: /usr/local/setup.bash
-- Installing: /usr/local/setup.sh
-- Installing: /usr/local/setup.zsh
-- Installing: /usr/local/.rosinstall
-- Installing: /usr/local/lib/pkgconfig/librealsense.pc
-- Installing: /usr/local/share/librealsense/cmake/librealsenseConfig.cmake
-- Installing: /usr/local/share/librealsense/cmake/librealsenseConfig-version.cmake
-- Up-to-date: /usr/local/share/librealsense/package.xml
-- Installing: /usr/local/lib/librealsense.so
-- Installing: /usr/local/include/librealsense
-- Up-to-date: /usr/local/include/librealsense/rs.hpp
-- Up-to-date: /usr/local/include/librealsense/rsutil.h
-- Up-to-date: /usr/local/include/librealsense/rs.h
-- Up-to-date: /usr/local/include/librealsense/rscore.hpp

It is important to make sure that the shared library (librealsense.so) has been installed (“/usr/local/lib” not “/usr/local/lib/x86_64-linux-gnu”).

  1. Set-up the USB udev rule and install some relevant dependencies:
$./scripts/install_glfw3.sh
$sudo cp ./config/99-realsense-libusb.rules /etc/udev/rules.d/

realsense wrapper

  1. Clone the realsense wrapper package and its dependencies:
$cd ~/indigo_catkin_ws/src
$git clone -b feature/buffer_images_with_imu https://github.com/ethz-asl/realsense_ros (This is not open source yet)..
$git clone https://github.com/inkyusa/ze_deps
$git clone https://github.com/ethz-asl/gflags_catkin
$git clone https://github.com/ethz-asl/eigen_checks
$git clone https://github.com/ethz-asl/minkindr
$git clone https://github.com/ethz-asl/yaml_cpp_catkin
  1. Build the package:
$cd ..
$catkin build

ROVIO

The ROVIO installation wiki provides detailed instructions on how to set-up our visual-inertial odometry framework. For reference, we provide the commends used for cloning and building:

$cd ~/indigo_catkin_ws/src
$git clone --recursive https://github.com/ethz-asl/rovio -b feature/trackedImgPub
$git clone https://github.com/ethz-asl/kindr
$catkin build rovio --cmake-args -DCMAKE_BUILD_TYPE=Release

To verify that ROVIO is running properly, you can run the command below in a separate terminal:

$roslaunch realsense_ros/launch/realsense_rovio_test.launch

The rviz visualization tool shows the estimated state as shown:

Calibration instructions for ROVIO can be found on this page.

node_manager (recommended)

The node manager package provides easy tools for monitoring topics and running nodes. It can be installed directly:

$sudo apt-get install ros-indigo-multimaster-fkie ros-indigo-multimaster-msgs-fkie
$node_manager

The following interface should appear:

More information can be found in the package documentation.