sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
- Command for ubuntu 20
sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u
- since this repo is not availabe in ubuntu 22 so we need to source it from ubuntu 20 repo, so replace
$(lsb_release -cs)
withfocal
i.e. name of ubuntu 20- `sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo focal main" -u
sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils
- The above two lines will deploy librealsense2 udev rules, build and activate kernel modules, runtime library and executable demos and tools.
sudo apt-get install librealsense2-dev
- See below for details to properly install for ubuntu 22
sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-dkms
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
The following additional packages will be installed:
at librealsense2-udev-rules
Suggested packages:
default-mta | mail-transport-agent
The following NEW packages will be installed:
at librealsense2-dkms librealsense2-udev-rules
0 upgraded, 3 newly installed, 0 to remove and 4 not upgraded.
Need to get 4,324 kB of archives.
After this operation, 23.1 MB of additional disk space will be used.
Do you want to continue? [Y/n] y
Get:1 http://in.archive.ubuntu.com/ubuntu jammy/universe amd64 at amd64 3.2.5-1ubuntu1 [41.1 kB]
Get:2 https://librealsense.intel.com/Debian/apt-repo focal/main amd64 librealsense2-dkms all 1.3.18-0ubuntu1 [4,275 kB]
Get:3 https://librealsense.intel.com/Debian/apt-repo focal/main amd64 librealsense2-udev-rules amd64 2.50.0-0~realsense0.6128 [7,782 B]
Fetched 4,324 kB in 4s (1,011 kB/s)
Selecting previously unselected package at.
(Reading database ... 190028 files and directories currently installed.)
Preparing to unpack .../at_3.2.5-1ubuntu1_amd64.deb ...
Unpacking at (3.2.5-1ubuntu1) ...
Selecting previously unselected package librealsense2-dkms.
Preparing to unpack .../librealsense2-dkms_1.3.18-0ubuntu1_all.deb ...
Unpacking librealsense2-dkms (1.3.18-0ubuntu1) ...
Selecting previously unselected package librealsense2-udev-rules:amd64.
Preparing to unpack .../librealsense2-udev-rules_2.50.0-0~realsense0.6128_amd64.deb ...
Unpacking librealsense2-udev-rules:amd64 (2.50.0-0~realsense0.6128) ...
Setting up at (3.2.5-1ubuntu1) ...
Created symlink /etc/systemd/system/multi-user.target.wants/atd.service → /lib/systemd/system/atd.service.
Setting up librealsense2-udev-rules:amd64 (2.50.0-0~realsense0.6128) ...
Postinst script activated...
Presets deployment:
no src dir
tgt dir exists
Presets deployment is skipped
Setting up librealsense2-dkms (1.3.18-0ubuntu1) ...
Loading new librealsense2-dkms-1.3.18 DKMS files...
Building for 5.15.0-33-generic
Building initial module for 5.15.0-33-generic
Error! The /var/lib/dkms/librealsense2-dkms/1.3.18/5.15.0-33-generic/x86_64/dkms.conf for module librealsense2-dkms includes a BUILD_EXCLUSIVE directive which does not match this kernel/arch.
This indicates that it should not be built.
Skipped.
Loading the modified modules into kernel... complete
Current status:
bcmwl/6.30.223.271+bdcom, 5.15.0-30-generic, x86_64: installed
bcmwl/6.30.223.271+bdcom, 5.15.0-33-generic, x86_64: installed
librealsense2-dkms/1.3.18: added
mod: videodev
mod: uvcvideo version: 1.1.1
mod: hid_sensor_gyro_3d
mod: hid_sensor_accel_3d
Processing triggers for man-db (2.10.2-1) ...
-
Note build and activate kernel modules is not happening
-
sudo apt-get install librealsense2-utils
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:
The following packages have unmet dependencies:
librealsense2-utils : Depends: libssl1.1 (>= 1.1.1) but it is not installable
E: Unable to correct problems, you have held broken packages.
sudhir@sudhir-MacBookAir:~$ sudo apt-get install libssl1.1
- libssl1.1 is not available in 22.04 (libssl3 is used in 22.04) so we need to download and install it manually
cd ~/Downloads
wget http://archive.ubuntu.com/ubuntu/pool/main/o/openssl/libssl1.1_1.1.1f-1ubuntu2.13_amd64.deb
sudo dpkg -i ./libssl1.1_1.1.1l-1ubuntu1_amd64.deb
- Now install using
sudo apt-get install librealsense2-utils
sudo apt-get install librealsense2-dbg
- Links:
- Steps
- Step 1: Install Dependencies
sudo apt-get install git libssl-dev libusb-1.0-0-dev libudev-dev pkg-config libgtk-3-dev
sudo apt-get install guvcview git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev
- Step 2: Download librealsense
git clone https://github.com/IntelRealSense/librealsense.git
- Step 3: Run below scripts
cd librealsense
./scripts/setup_udev_rules.sh
./scripts/patch-realsense-ubuntu-lts.sh
- Step 3: Build
mkdir build && cd build
cmake ../ -DFORCE_RSUSB_BACKEND=true -DBUILD_PYTHON_BINDINGS=true -DCMAKE_BUILD_TYPE=release -DBUILD_EXAMPLES=true -DBUILD_GRAPHICAL_EXAMPLES=true
sudo make uninstall && make clean
make -j4
- Note: This step will take much time (~1hr)
sudo make instal
- Step 5: Reboot
- Step 1: Install Dependencies
- Link
- Install it from sources and not directly via apt to get latest package
- Steps:
- Step 1: Create Workspace
mkdir -p ~/realsense_ws/src
cd ~/realsense_ws/src/
catkin_init_workspace
- Step 2: Download Package
git clone https://github.com/IntelRealSense/realsense-ros.git
cd realsense-ros/
git checkout git tag | sort -V | grep -P "^2.\d+\.\d+" | tail -1
cd ..
- Step 3: Build and Install
cd ..
- To reach root of workspace
catkin_make clean
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
catkin_make install
- Step 4: Source the workspace
echo "source ~/realsense_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
- Step 1: Create Workspace
- ![[Pasted image 20220705103137.png]]
- X: 124.5 mm
- Y: 29.5 mm
- Z: 26.5 mm
- 0.125, 0.03, 0.03
- weight: 0.1kg
- moment of interia
- ixx = 1/12 x m(y^2 + z^2) = 1/12 x 0.1 (0.03^2 + 0.03^2) = 0.000015
- iyy = 1/12 x m(x^2 + z^2) = 1/12 x 0.1 (0.125^2 + 0.03^2) = 0.000138
- izz = 1/12 x m(x^2 + y^2) = 1/12 x 0.1 (0.125^2 + 0.03^2) = 0.000138
- p3dx
- 0.5 0.4 0.25
- ixx = 1/12 x m(y^2 + z^2) = (9(0.4^2 + 0.25^2))/12 = 0.166875
- iyy = 1/12 x m(x^2 + z^2) = (9(0.5^2 + 0.25^2))/12 = 0.234375
- izz = 1/12 x m(x^2 + y^2) = (9(0.5^2 + 0.4^2))/12 = 0.3075
- sensor box
- 0.1 0.16 0.22
- ixx = 1/12 x m(y^2 + z^2) = (0.05(0.16^2 + 0.22^2))/12 = 0.0003
- iyy = 1/12 x m(x^2 + z^2) = (0.05(0.1^2 + 0.22^2))/12 = 0.00024
- izz = 1/12 x m(x^2 + y^2) = (0.05(0.1^2 + 0.16^2))/12 = 0.00015
- ![[Pasted image 20220705103753.png]]
- ![[Pasted image 20220705103208.png]]
- FPS: don't stream data at 10FPS or low reliably
- Unreliable depth
- ![[Pasted image 20220715145257.png]]
- ![[Pasted image 20220715152657.png]]
- solutions
![[Pasted image 20220715154719.png]]![[Pasted image 20220715154745.png]]
-
https://discourse.ros.org/t/intel-cancelling-its-realsense-business-alternatives/21881/6
-
Others
- Orbecc
- pmd/IFM (albeit, no color)
- Mynt
- ZED (if you have a GPU and GPU power to spare)ow
-
Things to look
- Camera Quality
- SDK
- Computation
- How much is onborad
- How much is off-loaded
- Power consumption and Heat
- Compute required