RealSense相机在ros2环境的安装_realsense ros2

一、SDK的安装

在安装前一定要确定SDK和realsense相机之间的版本对应的关系，我使用的SDK的版本是：librealsense-2.51.1  对应的ROS的版本是： realsense-ros-4.51.1。

git clone -b v2.51.1 https://github.com/IntelRealSense/librealsense.git 下载太慢的话直接去网站下载源码
1）安装依赖包
sudo apt-get install libudev-dev pkg-config libgtk-3-dev
sudo apt-get install libusb-1.0-0-dev pkg-config
sudo apt-get install libglfw3-dev
sudo apt-get install libssl-dev
2）安装权限脚本
cd librealsense
sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && udevadm trigger 
3）编译
mkdir build
cd build
cmake ../ -DBUILD_EXAMPLES=true
make
sudo make install
4）使用
realsense-viewer
5)卸载
dpkg -l | grep "realsense" | cut -d " " -f 3 | xargs sudo dpkg --purge

二、realsense_ros2的安装

安装步骤参考以下链接：

GitHub - IntelRealSense/realsense-ros: Intel(R) RealSense(TM) ROS Wrapper for D400 series, SR300 Camera and T265 Tracking Module

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src/
git clone https://github.com/IntelRealSense/realsense-ros.git -b ros2-development
cd ~/ros2_ws
sudo apt-get install python3-rosdep -y
sudo rosdep init # "sudo rosdep init --include-eol-distros" for Eloquent and earlier
rosdep update # "sudo rosdep update --include-eol-distros" for Eloquent and earlier
rosdep install -i --from-path src --rosdistro $ROS_DISTRO --skip-keys=librealsense2 -y
colcon build
ROS_DISTRO=<YOUR_SYSTEM_ROS_DISTRO>  # set your ROS_DISTRO: humble, galactic, foxy, eloquent, dashing
添加到终端环境中
source /opt/ros/$ROS_DISTRO/setup.bash
cd ~/ros2_ws
. install/local_setup.bash
安装成功后测试：
ros2 launch realsense2_camera rs_launch.py
执行的方法有：
ros2 run realsense2_camera realsense2_camera_node --ros-args -p enable_color:=false -p spatial_filter.enable:=true -p temporal_filter.enable:=true
ros2 launch realsense2_camera rs_launch.py
ros2 launch realsense2_camera rs_launch.py depth_module.profile:=1280x720x30 pointcloud.enable:=true

三、相机相关话题的研究

3.1 开启IMU

ros2 launch realsense2_camera rs_launch.py pointcloud.enable:=true enable_gyro:=true enable_accel:=true
或在运行时使用以下命令来启用加速器和陀螺仪：
ros2 param set /camera/camera enable_accel true
ros2 param set /camera/camera enable_gyro true

 3.2 相机参数设置

对于整个参数类型列表ros2 param list。ros2 param get <node> <parameter_name>例如，读取参数值使用：ros2 param get /camera/camera depth_module.emitter_on_off 为参数使用设置新值ros2 param set <node> <parameter_name> <value>即ros2 param set /camera/camera depth_module.emitter_on_off true

 3.2 相机延迟测试工具的开启

为了了解延迟减少情况，可以通过启动文件使用帧延迟报告工具。启动文件将包装器和帧延迟报告器工具组件加载到单个容器中（因此是相同的过程）。该工具打印出每帧的帧延迟 ( now - frame.timestamp)。

除非要求，否则不会构建该工具。在构建期间打开BUILD_TOOLS以使其可用：

colcon build --cmake-args '-DBUILD_TOOLS=ON'

launch 文件接受一个参数 ，intra_process_comms控制是否开启零拷贝。默认开启： 

ros2 launch realsense2_camera rs_intra_process_demo_launch.py intra_process_comms:=true 

四、打开需要的话题 及关闭激光

# Copyright 2023 Intel Corporation. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
 
"""Launch realsense2_camera node."""
import os
import yaml
from launch import LaunchDescription
import launch_ros.actions
from launch.actions import DeclareLaunchArgument, OpaqueFunction
from launch.substitutions import LaunchConfiguration
 
 
configurable_parameters = [{'name': 'camera_name',                  'default': 'camera', 'description': 'camera unique name'},
                           {'name': 'serial_no',                    'default': "''", 'description': 'choose device by serial number'},
                           {'name': 'usb_port_id',                  'default': "''", 'description': 'choose device by usb port id'},
                           {'name': 'device_type',                  'default': "''", 'description': 'choose device by type'},
                           {'name': 'config_file',                  'default': "''", 'description': 'yaml config file'},
                           {'name': 'unite_imu_method',             'default': "0", 'description': '[0-None, 1-copy, 2-linear_interpolation]'},
                           {'name': 'json_file_path',               'default': "''", 'description': 'allows advanced configuration'},
                           {'name': 'log_level',                    'default': 'info', 'description': 'debug log level [DEBUG|INFO|WARN|ERROR|FATAL]'},
                           {'name': 'output',                       'default': 'screen', 'description': 'pipe node output [screen|log]'},
                           {'name': 'depth_module.profile',         'default': '0,0,0', 'description': 'depth module profile'},                           
                           {'name': 'enable_depth',                 'default': 'false', 'description': 'enable depth stream'},
                           {'name': 'rgb_camera.profile',           'default': '0,0,0', 'description': 'color image width'},
                           {'name': 'enable_color',                 'default': 'false', 'description': 'enable color stream'},
                           {'name': 'enable_infra1',                'default': 'true', 'description': 'enable infra1 stream'},
                           {'name': 'enable_infra2',                'default': 'true', 'description': 'enable infra2 stream'},
                           {'name': 'infra_rgb',                    'default': 'false', 'description': 'enable infra2 stream'},
                           {'name': 'enable_fisheye1',              'default': 'true', 'description': 'enable fisheye1 stream'},
                           {'name': 'enable_fisheye2',              'default': 'true', 'description': 'enable fisheye2 stream'},
                           {'name': 'enable_confidence',            'default': 'true', 'description': 'enable depth stream'},
                           {'name': 'gyro_fps',                     'default': '0', 'description': "''"},                           
                           {'name': 'accel_fps',                    'default': '0', 'description': "''"},                           
                           {'name': 'enable_gyro',                  'default': 'true', 'description': "''"},                           
                           {'name': 'enable_accel',                 'default': 'true', 'description': "''"},                           
                           {'name': 'enable_pose',                  'default': 'true', 'description': "''"},                           
                           {'name': 'pose_fps',                     'default': '200', 'description': "''"},                           
                           {'name': 'pointcloud.enable',            'default': 'false', 'description': ''}, 
                           {'name': 'pointcloud.stream_filter',     'default': '2', 'description': 'texture stream for pointcloud'},
                           {'name': 'pointcloud.stream_index_filter','default': '0', 'description': 'texture stream index for pointcloud'},
                           {'name': 'enable_sync',                  'default': 'true', 'description': "''"},                           
                           {'name': 'align_depth.enable',           'default': 'true', 'description': "''"},                           
                           {'name': 'colorizer.enable',             'default': 'false', 'description': "''"},
                           {'name': 'clip_distance',                'default': '-2.', 'description': "''"},                           
                           {'name': 'linear_accel_cov',             'default': '0.01', 'description': "''"},                           
                           {'name': 'initial_reset',                'default': 'false', 'description': "''"},                           
                           {'name': 'allow_no_texture_points',      'default': 'false', 'description': "''"},                           
                           {'name': 'pointcloud.ordered_pc',        'default': 'false', 'description': ''},
                           {'name': 'tf_publish_rate',              'default': '0.0', 'description': 'Rate of publishing static_tf'},
                           {'name': 'diagnostics_period',           'default': '0.0', 'description': 'Rate of publishing diagnostics. 0=Disabled'},
                           {'name': 'decimation_filter.enable',     'default': 'false', 'description': 'Rate of publishing static_tf'},
                           {'name': 'rosbag_filename',              'default': "''", 'description': 'A realsense bagfile to run from as a device'},
                           {'name': 'depth_module.exposure.1',      'default': '7500', 'description': 'Depth module first exposure value. Used for hdr_merge filter'},
                           {'name': 'depth_module.gain.1',          'default': '16', 'description': 'Depth module first gain value. Used for hdr_merge filter'},
                           {'name': 'depth_module.exposure.2',      'default': '1', 'description': 'Depth module second exposure value. Used for hdr_merge filter'},
                           {'name': 'depth_module.gain.2',          'default': '16', 'description': 'Depth module second gain value. Used for hdr_merge filter'},
                           {'name': 'depth_module.hdr_enabled',     'default': 'false', 'description': 'Depth module hdr enablement flag. Used for hdr_merge filter'},
                           {'name': 'hdr_merge.enable',             'default': 'false', 'description': 'hdr_merge filter enablement flag'},
                           {'name': 'wait_for_device_timeout',      'default': '-1.', 'description': 'Timeout for waiting for device to connect (Seconds)'},
                           {'name': 'reconnect_timeout',            'default': '6.', 'description': 'Timeout(seconds) between consequtive reconnection attempts'},
                           {'name': 'depth_module.emitter_enabled', 'default': 'false', 'description': ''},
                          ]
def declare_configurable_parameters(parameters):
    return [DeclareLaunchArgument(param['name'], default_value=param['default'], description=param['description']) for param in parameters]
 
def set_configurable_parameters(parameters):
    return dict([(param['name'], LaunchConfiguration(param['name'])) for param in parameters])
 
def yaml_to_dict(path_to_yaml):
    with open(path_to_yaml, "r") as f:
        return yaml.load(f, Loader=yaml.SafeLoader)
 
def launch_setup(context, *args, **kwargs):
    _config_file = LaunchConfiguration("config_file").perform(context)
    params_from_file = {} if _config_file == "''" else yaml_to_dict(_config_file)
    log_level = 'info'
    # Realsense
    if (os.getenv('ROS_DISTRO') == "dashing") or (os.getenv('ROS_DISTRO') == "eloquent"):
        return [
            launch_ros.actions.Node(
                package='realsense2_camera',
                node_namespace=LaunchConfiguration("camera_name"),
                node_name=LaunchConfiguration("camera_name"),
                node_executable='realsense2_camera_node',
                prefix=['stdbuf -o L'],
                #parameters=[set_configurable_parameters(configurable_parameters)
                            #, params_from_file
                            #],
                parameters=[{
                'enable_infra1': True,
                'enable_infra2': True,
                'enable_color': False,
                'enable_depth': False,
                'depth_module.emitter_enabled': 0,
                'depth_module.profile': '640x360x90'}],
                output='screen',
                arguments=['--ros-args', '--log-level', LaunchConfiguration('log_level')],
                )
            ]
    else:
        return [
            launch_ros.actions.Node(
                package='realsense2_camera',
                namespace=LaunchConfiguration("camera_name"),
                name=LaunchConfiguration("camera_name"),
                executable='realsense2_camera_node',
                parameters=[{
                'enable_infra1': True,
                'enable_infra2': True,
                'enable_color': False,
                'enable_depth': False,
                'depth_module.emitter_enabled': 0,
                'depth_module.profile': '640x360x90'}],
                output='screen',
                arguments=['--ros-args', '--log-level', LaunchConfiguration('log_level')],
                emulate_tty=True,
                )
        ]
    
def generate_launch_description():
    return LaunchDescription(declare_configurable_parameters(configurable_parameters) + [
        OpaqueFunction(function=launch_setup)
    ])