├── setupNano.sh
├── patches
    └── package.diff
├── LICENSE
├── README.md
└── installRealSenseROS.sh


/setupNano.sh:
--------------------------------------------------------------------------------
1 | #!/bin/sh
2 | # Disable USB autosuspend
3 | sudo sed -i '$s/$/ usbcore.autosuspend=-1/'  /boot/extlinux/extlinux.conf
4 | # /bin/ required for echo to work correctly in /bin/sh file
5 | /bin/echo -e "\e[1;32mPlease reboot for changes to take effect.\e[0m"
6 | 
7 | 


--------------------------------------------------------------------------------
/patches/package.diff:
--------------------------------------------------------------------------------
 1 | diff --git a/realsense2_camera/package.xml b/realsense2_camera/package.xml
 2 | index 83a8ab3..06c6f3e 100644
 3 | --- a/realsense2_camera/package.xml
 4 | +++ b/realsense2_camera/package.xml
 5 | @@ -25,7 +25,6 @@
 6 |    <depend>tf</depend>
 7 |    <depend>ddynamic_reconfigure</depend>
 8 |    <depend>diagnostic_updater</depend>
 9 | -  <depend>librealsense2</depend>
10 |    <export>
11 |      <nodelet plugin="${prefix}/nodelet_plugins.xml" />
12 |    </export>
13 | 


--------------------------------------------------------------------------------
/LICENSE:
--------------------------------------------------------------------------------
 1 | MIT License
 2 | 
 3 | Copyright (c) 2019 JetsonHacks
 4 | 
 5 | Permission is hereby granted, free of charge, to any person obtaining a copy
 6 | of this software and associated documentation files (the "Software"), to deal
 7 | in the Software without restriction, including without limitation the rights
 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 9 | copies of the Software, and to permit persons to whom the Software is
10 | furnished to do so, subject to the following conditions:
11 | 
12 | The above copyright notice and this permission notice shall be included in all
13 | copies or substantial portions of the Software.
14 | 
15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
21 | SOFTWARE.
22 | 


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
 1 | # installRealSenseROS
 2 | Install the realsense-ros library on NVIDIA Jetson Nano Developer Kit.
 3 | <br>MIT License
 4 | <br>Copyright (c) 2018-19 JetsonHacks
 5 | 
 6 | The installRealSenseROS script will install librealsense and realsense_camera as ROS packages. These scripts have been tested with a RealSense D435, D435i and T265 cameras.
 7 | 
 8 | Note that the RealSense ROS wrapper is for ROS Kinetic, but the Jetson Nano is ROS Melodic. Please note any issues that you encounter.
 9 | 
10 | This is the third step of a three step process.
11 | 
12 | The first step requires the installation of librealsense (version 2). For the D4XX cameras, librealsense requires a modified kernel which modularizes uvcvideo and adds the RealSense video modes to the uvcvideo driver among other things.
13 | 
14 | One way to accomplish this is to use the 'installLibrealsense' repository on the Github JetsonHacksNano account (https://github.com/JetsonHacksNano/installLibrealsense). There are also scripts to build the librealsense library itself, and convenience scripts to rebuild the kernel if need be. <em><b>Note: </b>You will need to use the matching version of librealsense which corresponds to the RealSense ROS wrapper. See release notes below.</em>
15 | 
16 | The second step is to install ROS on the Jetson Nano. There are convenience scripts to help do this on the Github JetsonHacksNano account in the installROS repository (https://github.com/JetsonHacksNano/installROS). Note that the repository installs ros-base, if other configurations such as ros-desktop are desired, the scripts can do that through the command line parameters. You may want to install rviz. <em><b>Note: </b>realsense-ros officially only supports ROS Kinetic presently, the Jetson Nano runs ROS Melodic. While we haven't run into any issues running the library under ROS Melodic, be aware that there may be differences</em>.
17 | 
18 | This repository, the third step, is to install realsense-ros. The script installRealSenseROS.sh in this directory will install realsense-ros and dependencies in a Catkin Workspace.
19 | 
20 | To install:
21 | 
22 | $ ./installRealSenseROS.sh \<catkin_ws_name\>
23 | 
24 | The script 'setupNano.sh' simply turns off the USB autosuspend setting on the Jetson Nano so that the camera is always available. 
25 | 
26 | 
27 | <h3>Releases:</h3>
28 | <b>December 2019</b>
29 | 
30 | * L4T 32.3.1
31 | * JetPack 4.3
32 | * Requires librealsense v2.31.0
33 | * Installs RealSense ROS Version = 2.2.11
34 | 
35 | <b>October 2019</b>
36 | 
37 | * L4T 32.2.1
38 | * JetPack 4.2.1
39 | * Requires librealsense v2.25.0
40 | * Installs RealSense ROS Version = 2.2.8
41 | 
42 | <b>July 2019</b>
43 | * L4T 32.2
44 | * JetPack 4.2.1
45 | * Expects librealsense v2.24.0
46 | * Installs RealSense ROS Version = 2.2.7
47 | 
48 | <b>June 2019</b>
49 | * L4T 32.1.0
50 | * JetPack 4.2
51 | * Expects librealsense v2.22.0
52 | * Installs RealSense ROS Version = 2.2.6
53 | 
54 | 
55 | 


--------------------------------------------------------------------------------
/installRealSenseROS.sh:
--------------------------------------------------------------------------------
  1 | #!/bin/bash
  2 | # Install Intel realsense-ros on Jetson Nano Developer Kit
  3 | # Copyright (c) 2017-2019 Jetsonhacks 
  4 | # MIT License
  5 | # Usage:
  6 | # ./installRealSenseROS.sh <catkin workspace>
  7 | # If <catkin workspace> is omitted "~/catkin_ws" assumed
  8 | # ROS should already be installed, and a catkin workspace created
  9 | # Figure out where to install realsense-ros
 10 | # Save the directory we're installing from:
 11 | INSTALL_DIR=$PWD
 12 | # This version uses librealsense v2.31.0
 13 | REALSENSE_ROS_VERSION=2.2.11
 14 | # Now go get ready to install realsense-ros
 15 | source /opt/ros/melodic/setup.bash
 16 | # In L4T 32.3.1, opencv4 contains the opencv installation
 17 | # Make a symbolic link
 18 | cd /usr/include
 19 | sudo ln -s opencv4 opencv
 20 | cd $INSTALL_DIR
 21 | 
 22 | DEFAULTDIR=catkin_ws
 23 | CLDIR="$1"
 24 | if [ ! -z "$CLDIR" ]; then 
 25 |  DEFAULTDIR="$CLDIR"
 26 | fi
 27 | # Check to see if qualified path already
 28 | if [ -d "$DEFAULTDIR" ] ; then
 29 |    echo "Fully qualified path"
 30 | else
 31 |    # Have to add path qualification
 32 |    DEFAULTDIR=$HOME/$DEFAULTDIR
 33 | fi
 34 | echo "DEFAULTDIR: $DEFAULTDIR"
 35 | 
 36 | 
 37 | 
 38 | if [ -e "$DEFAULTDIR" ] ; then
 39 |   echo "$DEFAULTDIR exists" 
 40 |   CATKIN_WORKSPACEHIDDEN=$DEFAULTDIR/.catkin_workspace
 41 |   CATKIN_BUILD_WORKSPACEHIDDEN=$DEFAULTDIR/.catkin_tools
 42 |   if [ -e "$CATKIN_WORKSPACEHIDDEN" ] || [ -e "$CATKIN_BUILD_WORKSPACEHIDDEN" ] ; then
 43 | 	# This appears to be a Catkin_Workspace
 44 | 	echo "Found catkin workspace in directory: $DEFAULTDIR"
 45 |   else
 46 | 	echo "$DEFAULTDIR does not appear to be a Catkin Workspace."
 47 |         echo "The directory does not contain the hidden file .catkin_workspace or .catkin_tools."
 48 | 	echo "This does not appear to be a proper ROS installation."
 49 | 	echo "Terminating Installation."
 50 | 	exit 1
 51 |   fi
 52 | else 
 53 |   echo "Catkin Workspace named $DEFAULTDIR does not exist"
 54 |   echo "Please create a Catkin Workspace before installation"
 55 |   echo "Terminating Installation"
 56 |   exit 1
 57 | fi
 58 | if [ "${DEFAULTDIR: -1}" != "/" ] ; then
 59 | 	DEFAULTDIR=$DEFAULTDIR/
 60 | fi
 61 | 
 62 | INSTALLDIR="$DEFAULTDIR"src
 63 | if [ -e "$INSTALLDIR" ] ; then
 64 |   echo "Installing realsense-ros in: $INSTALLDIR"
 65 | else
 66 |   echo "$INSTALLDIR does not appear to be a source of a Catkin Workspace"
 67 |   echo "The source directory src does not exist"
 68 |   echo "Terminating Installation"
 69 |   exit 1
 70 | fi 
 71 | 
 72 | echo "Starting installation of realsense-ros"
 73 | 
 74 | cd $INSTALLDIR
 75 | 
 76 | # Update the dependencies database
 77 | rosdep update
 78 | echo "Cloning Intel ROS realsense package"
 79 | # Prerequisite: ddynamic_reconfigure
 80 | git clone https://github.com/pal-robotics/ddynamic_reconfigure
 81 | git clone https://github.com/IntelRealSense/realsense-ros.git
 82 | cd realsense-ros
 83 | git checkout $REALSENSE_ROS_VERSION
 84 | # Remove the librealsense2 package requirement in package.xml
 85 | patch -p1 < $INSTALL_DIR/patches/package.diff
 86 | cd ../..
 87 | echo $PWD
 88 | echo "Making Intel ROS realsense-ros"
 89 | sudo rosdep -y install --from-paths src --ignore-src --rosdistro melodic
 90 | if [ -e "$CATKIN_WORKSPACEHIDDEN" ] ; then
 91 |         echo "catkin_make starts"
 92 | 	catkin_make
 93 | 	echo "realsense-ros Package installed"
 94 | elif [ -e "$CATKIN_BUILD_WORKSPACEHIDDEN" ] ; then
 95 |         echo "catkin_build starts"
 96 | 	catkin build
 97 | 	echo "realsense-ros Package installed"
 98 | else
 99 | 	echo "Error: Could not decide to use catkin_make or catkin build"
100 | 	echo "Aborting..."
101 | fi
102 | 


--------------------------------------------------------------------------------