[ROS] 리얼센서(R200) 사용하기

안녕하세요. 꿈꾸는 개발자입니다.

Asul-E 프로젝트에서 사용할 인텔의 리얼센서(R200)를 upboard에 연결해 보았습니다.

USB 3.0 mini-B to mini-B type 이라 up-shop 이나 알리에서 구매하셔야 합니다.

단 몇몇 mini-B to USB B type 의 연장케이블의 경우 업보드에서 인식이 되지 않는 문제가 있습니다. 제 경우가 그렇습니다. 알리에서 구매후 한달여 긴 기다림 끝에 연결했더니 인식이 되질 않았습니다. ㅠ.ㅜ 다시 구매를 하게 되었네요.

정신 건강을 위해 꼭 USB 3.0 mini B to mini B 를 구매해서 사용하세요.

이제부터 리얼센서를 사용하기 위한 설치 과정입니다.

1. 업보드 용 커널 설치

https://01.org/developerjourney/installing-ubutnu-1404-lts-intel-realsense-robotic-development-kit

upboard $ sudo add-apt-repository spa:ubilinux/up upboard $ sudo apt-get update upboard $ sudo apt-get -y install linux-upboard upboard $ sudo apt-get -y autoremove --purge 'linux-.*generic'

Ubuntu 16.04 LTS 버전의 커널은 리얼센서를 인식하지 못하네요.

2. 커널 버전 확인

upboard $ uname -r 4.2.0-3-upboard  upboard $

3. 리얼센서 연결 확인

upboard $ slush Bus 002 Device 004:  ID 8086:0a80 Intel Corp.

4.  realsense_camera

upboard $ roscore & upboard $ roslaunch realsense_camera r200_nodelet_default.launch upboard $ rostopic list /camera/color/camera_info /camera/color/image_raw /camera/color/image_raw/compressed /camera/color/image_raw/compressed/parameter_descriptions /camera/color/image_raw/compressed/parameter_updates /camera/color/image_raw/compressedDepth /camera/color/image_raw/compressedDepth/parameter_descriptions /camera/color/image_raw/compressedDepth/parameter_updates /camera/color/image_raw/theora /camera/color/image_raw/theora/parameter_descriptions /camera/color/image_raw/theora/parameter_updates /camera/depth/camera_info /camera/depth/image_raw /camera/depth/image_raw/compressed /camera/depth/image_raw/compressed/parameter_descriptions /camera/depth/image_raw/compressed/parameter_updates /camera/depth/image_raw/compressedDepth /camera/depth/image_raw/compressedDepth/parameter_descriptions /camera/depth/image_raw/compressedDepth/parameter_updates /camera/depth/image_raw/theora /camera/depth/image_raw/theora/parameter_descriptions /camera/depth/image_raw/theora/parameter_updates /camera/depth/points /camera/driver/parameter_descriptions /camera/driver/parameter_updates /camera/ir/camera_info /camera/ir/image_raw /camera/ir/image_raw/compressed /camera/ir/image_raw/compressed/parameter_descriptions /camera/ir/image_raw/compressed/parameter_updates /camera/ir/image_raw/compressedDepth /camera/ir/image_raw/compressedDepth/parameter_descriptions /camera/ir/image_raw/compressedDepth/parameter_updates /camera/ir/image_raw/theora /camera/ir/image_raw/theora/parameter_descriptions /camera/ir/image_raw/theora/parameter_updates /camera/ir2/camera_info /camera/ir2/image_raw /camera/ir2/image_raw/compressed /camera/ir2/image_raw/compressed/parameter_descriptions /camera/ir2/image_raw/compressed/parameter_updates /camera/ir2/image_raw/compressedDepth /camera/ir2/image_raw/compressedDepth/parameter_descriptions /camera/ir2/image_raw/compressedDepth/parameter_updates /camera/ir2/image_raw/theora /camera/ir2/image_raw/theora/parameter_descriptions /camera/ir2/image_raw/theora/parameter_updates

[구매정보]

USB 3.0 mini B to mini B