How to use RealSense with ubuntu 20.04 and ROS Noetic

I used RealSense with ROS Noetic on ubuntu20.04, so I've summarized the steps.

environment

-Ubuntu 20.04LTS ・ Intel RealSense L515

The procedure is the same for D435, D435i, D455, etc.

procedure

1. Install Intel Realsense SDK
2. ROS Noetic installation
3. Realsense-ros setup

Install Intel Realsense SDK

Follow the official installation procedure below.

https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md

1. Register your public key

sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE

1. Register the server in the repository list

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

3. Install the library

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

4. Install developer tools and debugger tools

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

1. Connect RealSense and start realsense-viewer with the following command

realsense-viewer

If it is recognized normally and the image is displayed, it is successful.

Install ROS Noetic

Please install by referring to the official installation guide and the following articles. Note that the package names related to python from Noetic have changed from python-* to python3- *.

http://wiki.ros.org/noetic/Installation/Ubuntu

Install ROS Noetic ubuntu20.04 https://qiita.com/SECRETalexs/items/4b4a1bb420c4cfb823f6

Realsense-ros setup

Install the following ROS wrapper. https://github.com/IntelRealSense/realsense-ros#installation-instructions

Move to workspace

cd ~/catkin_ws/src/

Download source code

git clone https://github.com/IntelRealSense/realsense-ros.git
cd realsense-ros/
git checkout `git tag | sort -V | grep -P "^2.\d+\.\d+" | tail -1`

Build the package

cd ~/catkin_ws/
catkin_make clean

I get the following error:

CMake Error at /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by
  "ddynamic_reconfigure" with any of the following names:

    ddynamic_reconfigureConfig.cmake
    ddynamic_reconfigure-config.cmake

  Add the installation prefix of "ddynamic_reconfigure" to CMAKE_PREFIX_PATH
  or set "ddynamic_reconfigure_DIR" to a directory containing one of the
  above files.  If "ddynamic_reconfigure" provides a separate development
  package or SDK, be sure it has been installed.
Call Stack (most recent call first):
  realsense-ros/realsense2_camera/CMakeLists.txt:11 (find_package)

Since there is no ddynamic_reconfigure, install it with the following.

sudo apt-get install ros-noetic-ddynamic-reconfigure

Build again

cd ~/catkin_ws/
catkin_make clean

realsense-ros operation check

Start realsense2_camera with the following command

roslaunch realsense2_camera rs_camera.launch 

Launch Image View in another terminal

rosrun rqt_image_view rqt_image_view 

If you select an image topic such as/camera/color/image_raw and the image is displayed, you are successful.

reference

https://qiita.com/SECRETalexs/items/4b4a1bb420c4cfb823f6

https://qiita.com/kei_mo/items/c0387b7d277948451881