Intel RealSense R200

[eborghi10]

• Back up branch.
• Working example
• Gazebo model
• installLibrealsense

Tasks:

• Make it work with Raspberry Pi Nvidia Jetson Nano.
• Test with an external USB hub or connect it to the battery of the robot and call this script to power it up.

---

Installing Realsense on Nvidia Jetson Nano

sudo apt-get install libglfw3-dev

download and unzip https://github.com/IntelRealSense/librealsense/archive/v1.12.1.zip
add #include <functional> to librealsense-1.12.1/src/type.h (in order to compile with ubuntu 18.04 builtin gcc 7)

cd librealsense-1.12.1
mkdir build
cd build
cmake ..
make && sudo make install
cd ..
sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && udevadm trigger

Ros realsense_camera

download https://github.com/intel-ros/realsense/archive/indigo-devel.zip
Modify CMakelists.txt as below and build:

SET(USE_SYSTEM_LIBREALSENSE ON)

Replaced: https://github.com/intel-ros/realsense/blob/ebc06d4be1800da82595a7ccb163f3b5b6e69b23/realsense_camera/CMakeLists.txt#L34
by:

FIND_PATH(realsense_INCLUDE_DIR librealsense HINTS "/usr/local/include")
FIND_LIBRARY(realsense_LIBRARY realsense HINTS "/usr/local/lib")

FIND_PATH(realsense_INCLUDE_DIRS librealsense HINTS "/usr/local/include")
FIND_LIBRARY(realsense_LIBRARIES realsense HINTS "/usr/local/lib")

Commented the following lines (it was causing errors and I don't need it):
https://github.com/intel-ros/realsense/blob/ebc06d4be1800da82595a7ccb163f3b5b6e69b23/realsense_camera/CMakeLists.txt#L114-L118

And modified https://github.com/intel-ros/realsense/blob/ebc06d4be1800da82595a7ccb163f3b5b6e69b23/realsense_camera/CMakeLists.txt#L147
in:

install(TARGETS ${PROJECT_NAME}_nodelet