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安装Realsense D415的驱动

官网教程

步骤一：安装Realsense SDK2.0

Realsense SDK2.0官网安装教程

1.添加SDK下载的源

sudo apt-key adv --keyserver keys.gnupg.net --recv-key C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCDE

sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u

２．安装依赖库

sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils

sudo apt-get install librealsense2-dev
sudo apt-get install librealsense2-dbg

３．更新软件

sudo apt-get update

sudo apt-get upgrade

4.测试是否安装成功

realsense-viewer

如果没有显示图像，进行下面操作更新相机硬件： 参考教程 硬件下载网站

#查看usb接口
lsusb

#升级固件
intel-realsense-dfu -b 002 -d 002 -f -i /home/intel/Downloads/Signed_Image_UVC_5_10_6_0.bin

重新拔插，测试是否成功：

realsense-viewer
步骤二：安装Realsense ROS功能包

1.创建工作空间

mkdir -p ~/sensor_ws/src
cd ~/sensor_ws/src/

２．下载realsense-ros源码包

git clone https://github.com/IntelRealSense/realsense-ros.git
git clone https://github.com/pal-robotics/ddynamic_reconfigure.git

3编译源码包

cd ~/sensor_ws && catkin_make
echo "source ~/sensor_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

4.测试 (1)启动rgb相机

roslaunch realsense2_camera rs_camera.launch

(2)启动点云

roslaunch realsense2_camera rs_camera.launch filters:=pointcloud

roslaunch realsense2_camera rs_camera.launch align_depth:=true

实验一 QR码位姿的识别

安装依赖
sudo apt-get install ros-kinetic-visp

#####　方法一：基于visp视觉伺服进行QR码位姿的识别

１．项目地址：vision_visp

创建相机的启动文件：

#进去realsense2_camera／launch文件夹下面
roscd realsense2_camera && cd launch

touch rs_camera_qr.launch

添加下面内容：

<launch>
  <arg name="serial_no"           default=""/>
  <arg name="json_file_path"      default=""/>
  <arg name="camera"              default="camera"/>
  <arg name="tf_prefix"           default="$(arg camera)"/>

  <arg name="fisheye_width"       default="640"/>
  <arg name="fisheye_height"      default="480"/>
  <arg name="enable_fisheye"      default="true"/>

  <arg name="depth_width"         default="640"/>
  <arg name="depth_height"        default="480"/>
  <arg name="enable_depth"        default="true"/>

  <arg name="infra_width"        default="640"/>
  <arg name="infra_height"       default="480"/>
  <arg name="enable_infra1"       default="true"/>
  <arg name="enable_infra2"       default="true"/>

  <arg name="color_width"         default="640"/>
  <arg name="color_height"        default="480"/>
  <arg name="enable_color"        default="true"/>

  <arg name="fisheye_fps"         default="30"/>
  <arg name="depth_fps"           default="30"/>
  <arg name="infra_fps"           default="30"/>
  <arg name="color_fps"           default="30"/>
  <arg name="gyro_fps"            default="400"/>
  <arg name="accel_fps"           default="250"/>
  <arg name="enable_gyro"         default="true"/>
  <arg name="enable_accel"        default="true"/>

  <arg name="enable_pointcloud"         default="false"/>
  <arg name="pointcloud_texture_stream" default="RS2_STREAM_COLOR"/>
  <arg name="pointcloud_texture_index"  default="0"/>

  <arg name="enable_sync"           default="false"/>
  <arg name="align_depth"           default="false"/>

  <arg name="filters"               default=""/>
  <arg name="clip_distance"         default="-2"/>
  <arg name="linear_accel_cov"      default="0.01"/>
  <arg name="initial_reset"         default="false"/>
  <arg name="unite_imu_method"      default=""/>

  <arg name="camera/color/camera_info" value="file://$(find realsense2_camera)/calibration/realsense_rgb.yaml" />
  
  <group ns="$(arg camera)">
    <include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml">
      <arg name="tf_prefix"                value="$(arg tf_prefix)"/>
      <arg name="serial_no"                value="$(arg serial_no)"/>
      <arg name="json_file_path"           value="$(arg json_file_path)"/>

      <arg name="enable_pointcloud"        value="$(arg enable_pointcloud)"/>
      <arg name="pointcloud_texture_stream" value="$(arg pointcloud_texture_stream)"/>
      <arg name="pointcloud_texture_index"  value="$(arg pointcloud_texture_index)"/>
      <arg name="enable_sync"              value="$(arg enable_sync)"/>
      <arg name="align_depth"              value="$(arg align_depth)"/>

      <arg name="fisheye_width"            value="$(arg fisheye_width)"/>
      <arg name="fisheye_height"           value="$(arg fisheye_height)"/>
      <arg name="enable_fisheye"           value="$(arg enable_fisheye)"/>

      <arg name="depth_width"              value="$(arg depth_width)"/>
      <arg name="depth_height"             value="$(arg depth_height)"/>
      <arg name="enable_depth"             value="$(arg enable_depth)"/>

      <arg name="color_width"              value="$(arg color_width)"/>
      <arg name="color_height"             value="$(arg color_height)"/>
      <arg name="enable_color"             value="$(arg enable_color)"/>

      <arg name="infra_width"              value="$(arg infra_width)"/>
      <arg name="infra_height"             value="$(arg infra_height)"/>
      <arg name="enable_infra1"            value="$(arg enable_infra1)"/>
      <arg name="enable_infra2"            value="$(arg enable_infra2)"/>

      <arg name="fisheye_fps"              value="$(arg fisheye_fps)"/>
      <arg name="depth_fps"                value="$(arg depth_fps)"/>
      <arg name="infra_fps"                value="$(arg infra_fps)"/>
      <arg name="color_fps"                value="$(arg color_fps)"/>
      <arg name="gyro_fps"                 value="$(arg gyro_fps)"/>
      <arg name="accel_fps"                value="$(arg accel_fps)"/>
      <arg name="enable_gyro"              value="$(arg enable_gyro)"/>
      <arg name="enable_accel"             value="$(arg enable_accel)"/>

      <arg name="filters"                  value="$(arg filters)"/>
      <arg name="clip_distance"            value="$(arg clip_distance)"/>
      <arg name="linear_accel_cov"         value="$(arg linear_accel_cov)"/>
      <arg name="initial_reset"            value="$(arg initial_reset)"/>
      <arg name="unite_imu_method"         value="$(arg unite_imu_method)"/>
    </include>
  </group>
</launch>

2.下载源代码并编译

cd ~/sensor_ws/src
svn co https://github.com/GJXS1980/Graduation_Project/trunk/vision_visp
cd .. && catkin_make

３．根据实际QR码进行修改文件
(1)相机的内参文件在visp_auto_tracker/models_door/calibration.ini
例如：

# Camera intrinsics

[image]

width
640

height
480

[/camera/image_raw]

camera matrix
605.792874 0.00000 326.930239
0.00000 608.262289 234.341994
0.00000 0.00000 1.00000 

distortion
0.132415 -0.362119 0.007382 0.004568 0.00000 


rectification
1.00000 0.00000 0.00000 
0.00000 1.00000 0.00000 
0.00000 0.00000 1.00000 

projection
611.422729 0.00000 329.619446 0.00000 
0.00000 616.940002 236.635494 0.00000 
0.00000 0.00000 1.00000 0.00000

(2)设置四个特征点
设置文件在visp_auto_tracker/models_door/pattern.cfg　

(3)设置3D坐标系特征点　
设置文件在visp_auto_tracker/models_door/pattern.cao　
设置文件在visp_auto_tracker/models_door/pattern.wrl　

#####　方法二：基于aruco进行QR码位姿的识别

１．项目地址：aruco_ros

下载源代码并编译

cd ~/sensor_ws/src
svn co https://github.com/GJXS1980/Graduation_Project/trunk/aruco_ros
cd .. && catkin_make

2.修改aruco码的配置文件　
(1)在线生成aruco码　
ArUco markers generator

(2)aruco的尺寸
arkerSize为aruco的尺寸大小

(3)aruco的id
markerId为aruco的id

实验二 手眼标定

１．项目地址：easy_handeye

下载源代码并编译

cd ~/sensor_ws/src
svn co https://github.com/GJXS1980/Graduation_Project/trunk/easy_handeye
cd .. && catkin_make

实验三 多个AR码的识别

１．项目地址：ar_track_alvar

svn co https://github.com/GJXS1980/Graduation_Project/trunk/ar_track_alvar

2.启动识别

roslaunch ar_track_alvar orbbec_ar_track.launch

3.打开rviz，添加TF和masker插件

实验四 QR内容的识别

１．项目地址：zbar_opencv

svn co https://github.com/GJXS1980/Graduation_Project/trunk/zbar_opencv

2.打开QR码识别

roslaunch zbar_opencv zbar_opencv_orbbec.launch

3.订阅识别结果的话题

rostopic echo /qr_result