Welcome to Realsense Depth Camera repository

2.0 How to use camera

1、SDK+ROS

Note: The version of librealsense is v2.48.0; the version of realsense_ros is 2.3.1.

Install dependent libraries

sudo apt install ros-melodic-ddynamic-reconfigure ros-melodic-realsense2-camera ros-melodic-realsense2-description git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev libglfw3-dev

Install Intel® RealSense™ SDK 2.0

mkdir -p librealsense
cd librealsense/
git clone -b v2.48.0 https://github.com/IntelRealSense/librealsense.git
cd librealsense
./scripts/setup_udev_rules.sh
mkdir build && cd build
cmake ..
make -j8
sudo make install

RealSense Viewer

realsense-viewer

The distance can be measured in 3D mode, as shown in the figure, which is very similar to the actual example.

Install Intel® RealSense™ ROS from source code

mkdir -p ~/realsense_ros/src
cd ~/realsense_ros/src/
git clone -b 2.3.1 https://github.com/IntelRealSense/realsense-ros.git 
cd realsense-ros/realsense2_camera
git checkout `git tag | sort -V | grep -P "^d+.d+.d+" | tail -1`
//Compile
cd ~/realsense_ros
catkin_make 
echo "source ~/realsense_w/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

Start up camera

roslaunch realsense2_camera rs_camera.launch

2、Web monitoring

Environment setup

sudo apt-get install ros-melodic-async-web-server-cpp ros-melodic-web-video-server ros-melodic-usb-cam

Start up camera

roslaunch realsense2_camera rs_camera.launch

Start up web_video_server

rosrun web_video_server web_video_server

View video.

View on Local web browser
http://localhost:8080/
In the same local area network and viewed by other devices
http://192.168.2.103:8080/
(192.168.2.103 is the IP address of the main control board)
Note: It is recommended to use Google browser, other browsers may not be able to open the image

Installation video

Opencv application