This is a work in progress.
I was unable to get the Realsense ROS debians to work reliably, so I ended up building from source against the driver debians. I also had issues with some of the newest releases of librealsense, so we are setting the version manually
sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic main" -u
sudo apt-get install librealsense2-dkms=1.3.13-0ubuntu1
sudo apt-get install librealsense2-dev=2.32.1-0~realsense0.1913
Then we can build the actual ROS workspace:
mkdir ~/melodic/src; cd ~/melodic/src
git clone git@github.com:mikeferguson/etherbotix_python.git
git clone git@github.com:mikeferguson/robomagellan.git
git clone git@github.com:gareth-cross/rviz_satellite.git
git clone https://github.com/IntelRealSense/realsense-ros.git
cd ~/melodic
rosdep install --from-paths src --ignore-src --rosdistro=melodic -y
source /opt/ros/melodic/setup.bash
catkin_make
- robot.launch - everything needed to run the robot. Setting the offline_mode argument to true will only run the processing pipelines. This is useful for running against bagfiles.
- raw_imu_odom_gps.launch - starts a minimal set of drivers and a ROS bag. These bags can be used with the offline_mode.