<<StackHeader(RealSense)>>

## This wiki page serves as a central location for Intel RealSense ROS driver packages. The `StackHeader(RealSense)` doesn't reference to any existing rosdistro entry (as of 20170807), but that is intended.
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== Documentation ==
[[http://www.intel.com/realsense|Intel® RealSense™]] packages to enable the use of Intel® RealSense™ R200, F200, SR300 and D400 cameras with ROS.

== Installation Prerequisites ==
[[http://wiki.ros.org/librealsense#Installation_Prerequisites|Installation Prerequisites]]

Prior to installing the ROS librealsense Debian packages, the system will need to be [[http://wiki.ros.org/librealsense#Installation_Prerequisites|configured to enable the downloading of kernel source files]].

== Packages ==
||'''Package''' ||'''Description''' ||
||[[librealsense]] ||Underlying library driver for communicating with Intel® RealSense™ R200, F200 and SR300 cameras. ||
||[[realsense_camera]] ||ROS Intel® RealSense™ camera node for publishing camera data using librealsense. ||

||[[librealsense2]] ||SDK for communicating with Intel® RealSense™ SR300 and D400 cameras. ||
||[[realsense2_camera]] ||ROS Intel® RealSense™ camera node for publishing camera data using librealsense2. ||


=== Turtlebot Usage ===
Follow the steps on the [[http://wiki.ros.org/Robots/TurtleBot|Turtlebot ROS Wiki]] for bringing up the turtlebot with the Intel® RealSense™ camera R200 attached. When completing step [[http://wiki.ros.org/turtlebot/Tutorials/indigo/Turtlebot%20Installation|3.1 Turtlebot Installation]], follow the extra instructions in [[http://wiki.ros.org/turtlebot/Tutorials/indigo/Alternative%203D%20Sensor%20Setup|section 2.3 for Alternative 3D Sensor Setup]] to configure the R200 camera for navigation use.

=== Jetson Nano Usage ===
The supported Ubuntu version of the Jetson Nano is still relying on the kernel version 4.9.x. You can check that with
{{{
uname -r
}}}
Therefore it is necessary to install outdated versions of librealsense and realsense-ros.
==== Remove possible newer versions ====
If you already tried to install things, here is the way to revert those. If you start with a fresh Jetson Nano skip to the installation.
If you build librealsense from source (may vary on build location):
{{{
cd librealsense/build
sudo make uninstall 
}}}
you can then remove the folder.
If you have installed librealsense via apt follow the [[https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md#uninstalling-the-packages|instructions by Intel®]]
Also remove the RealSense™ keys from the source list:
{{{
sudo nano /etc/apt/sources.list
}}}
Remove realsense_ros and ddynamic_reconfigure by deleting then manually from your workspace and with
{{{
sudo apt remove ros-melodic-realsense-ros ros-melodic-ddynamic-reconfigure
}}}
from your system.
==== Install Jetson Nano versions ====
Install librealsense following [[https://github.com/IntelRealSense/librealsense/blob/master/doc/installation_jetson.md|two steps from this]]:
{{{
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE

sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u
}}}
Then install librealsense v2.31.0
{{{
sudo apt install librealsense2=2.31.0-5ubuntu5~1.gbp95d195 librealsense2-dbg=2.31.0-5ubuntu5~1.gbp95d195 librealsense2-utils=2.31.0-5ubuntu5~1.gbp95d195 librealsense2-gl=2.31.0-5ubuntu5~1.gbp95d195 librealsense2-dev=2.31.0-5ubuntu5~1.gbp95d195

sudo apt install librealsense2-udev-rules=2.31.0-5ubuntu5~1.gbp95d195
}}}
To prevent updating to a newer version you should remove the RealSense™ keys as suggested above.
At last follow the instructions by [[https://www.jetsonhacks.com/2019/10/25/realsense-ros-wrapper-jetson-nano/|JetsonHacks]].

Now you should be able to use the RealSense™ devices with your Jetson Nano.

== Report a Bug ==
<<GitHubIssues(intel-ros/realsense)>>

== Contributing to the Intel® RealSense™ Projects ==
The Intel® RealSense™ ROS Project is developed and distributed under a BSD license as noted in [[https://github.com/intel-ros/realsense/blob/indigo-devel/realsense_camera/licenses/License.txt|realsense_camera/licenses/License.txt]].

By making a contribution to this project, I certify that:

(a) The contribution was created in whole or in part by me and I have the right to submit it under the open source license indicated in the file; or

(b) The contribution is based upon previous work that, to the best of my knowledge, is covered under an appropriate open source license and I have the right under that license to submit that work with modifications, whether created in whole or in part by me, under the same open source license (unless I am permitted to submit under a different license), as indicated in the file; or

(c) The contribution was provided directly to me by some other person who certified (a), (b) or (c) and I have not modified it.

(d) I understand and agree that this project and the contribution are public and that a record of the contribution (including all personal information I submit with it, including my sign-off) is maintained indefinitely and may be redistributed consistent with this project or the open source license(s) involved.

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