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--- documentation:vision:realsense2-ros [2023/01/17 15:47] – marcusk
+++ documentation:vision:realsense2-ros [2023/01/19 10:06] (current) – marcusk
@@ 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>
 # Install realsense drivers
@@ Line 19: / Line 22: @@
 sudo apt update
-sudo apt install -y librealsense2-dkms librealsense2-utils librealsense2-dev
+sudo apt install -y librealsense2-dkms librealsense2-utils librealsense2-dev ros-noetic-realsense2-camera
+</cli>
-sudo apt install ros-noetic-realsense2-camera  # installs ROS noetic realsense2 dependencies
+To get all Robotlab pieces for vision there is a config:
-roslaunch realsense2_camera rs_camera.launch   # launches a node
+<cli>
+workspace init minimal_vision.rosinstall
+cd ~/catkin_ws
+catkin build
+workspace shell
+roslaunch vision realsense_d435.launch   # launches a node
 </cli>
-This should start a ROS node and create suitable topics.
+==== 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.