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--- documentation:vision:realsense2-ros [2023-01-17 16:02] – created Marcus Klang
+++ documentation:vision:realsense2-ros [2023-01-19 11:06] (current) – Marcus Klang
@@ Line 1: / Line 1: @@
 ====== Realsense2 + ROS ======
-Minimal test setup in ROS containers:
+Minimal test setup in [[documentation:containers|ROS containers]]:
+To allow hardware to work within containers you have to use the option ''use-real'' which will map ''/dev'' inside (for USB communication) and run docker in ''%%--%%priviledged'' mode which will allow the container to have the same priviledges as outside the container for interacting with hardware.
+==== Inside the container ====
 <cli>
-sudo apt install ros-noetic-realsense2-camera
+# Install realsense drivers
-roslaunch realsense2_camera rs_camera.launch
+# Get distribution environment variables
+. /etc/lsb-release
+export repo="https://librealsense.intel.com/Debian/apt-repo"
+export repo_check="$repo $DISTRIB_CODENAME main"
+export repo_add="$repo main"
+if ! grep -q "^deb .*$repo_check" /etc/apt/sources.list /etc/apt/sources.list.d/*; then\
+    sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
+    sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
+    sudo add-apt-repository "$repo_add" -u
+else
+    echo "Realsense repo exists already."
+fi
+sudo apt update
+sudo apt install -y librealsense2-dkms librealsense2-utils librealsense2-dev ros-noetic-realsense2-camera
 </cli>
-This should start a ROS node and create suitable topics.
+To get all Robotlab pieces for vision there is a config:
+<cli>
+workspace init minimal_vision.rosinstall
+cd ~/catkin_ws
+catkin build
+workspace shell
+roslaunch vision realsense_d435.launch   # launches a node
+</cli>
+==== Known issues ====
+If you get an error similar to this:
+''failed to open usb interface: 0, error: RS2_USB_STATUS_ACCESS''
+This is known to be fixable by a firmware update of the Realsense D435 camera.