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
- 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.
- 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”).
- 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
- 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
- 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.