/panther_ekf

Primary LanguageCMakeMIT LicenseMIT

Installation

First, you need to install robot localization pkg to use the panther_ekf package:

$ sudo apt-get install ros-noetic-robot-localization

After that, clone the panther_ekf repo to your ros_ws/src directory and compile with catkin_make.

Installing camera drivers

At the time of writing this was working. Let me know by creating an issue when it stops working.

  1. Add intel realsense repo for ubuntu18 (there is no version for ubuntu 20 yet)
sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key
sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic main" -u
  1. Install libraries
sudo apt-get install -y librealsense2-dkms
sudo apt-get install -y librealsense2-utils
sudo apt-get install -y librealsense2-dev
sudo apt-get install -y librealsense2-dbg
  1. Install ROS wrapper

Go to your ros_ws/src and clone repository

git clone https://github.com/IntelRealSense/realsense-ros.git
cd realsense-ros
git checkout 2.2.17
cd ../..
catkin_make clean
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release

INFO: I have used branch development tag 2.2.17

Documentation taken from librealsense and from realsense-ros

Using panther_ekf package

To start the Intel Realsense cameras (T265 and D435i) and EKF run:

$ roslaunch panther_ekf panther_ekf_rs.launch

For version without cameras use:

$ roslaunch panther_ekf panther_ekf.launch

You can also include this launch in your custom launch files using:

<include file="$(find panther_ekf)/launch/panther_ekf.launch"/>

Author

License

This project is licensed under the MIT License - see the LICENSE.md file for details