Ubuntu 16.04  Installation

Ubuntu Build Dependencies

Will be used during the installation processwget, git, add-apt-repositoryIf the order is blocked by the firewall, it is recommended not to use the company's network (I have this problem, how can the company's network command not be connected, open the mobile phone hotspot, it will be solved.)

1. Preparation in advance

Update Ubuntu:

• Update Ubuntu distribution, including getting the latest stable kernel:

sudo apt-get update && sudo apt-get upgrade && sudo apt-get dist-upgrade

If you need to view the kernel version, run the following command:

uname -r

2. Download the latest librealsense SDK package:

The download address is as follows:https://github.com/IntelRealSense/librealsense/tagsAfter unzipping, move to the home directory of the system.

3、Prepare Linux Backend and the Dev. Environment:

Note: Do not connect the camera to your computer during installation.

3.1 Switch directory tolibrealsenseThe root directory, then install the necessary packages

cd ~/librealsense
sudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev 

3.2 Install the corresponding version of the package:

Ubuntu 16:

sudo apt-get install libglfw3-dev

3.3 Install the license script in the original librealsense directory

sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/ 
sudo udevadm control --reload-rules && udevadm trigger

3.4 Build and apply patched kernel modules

* Ubuntu 14/16/18 with LTS kernel script will download, patch and build realsense-affected kernel modules (drivers).
Then it will attempt to insert the patched module instead of the active one. If failed the original uvc modules will be restored.

./scripts/patch-realsense-ubuntu-lts.sh

Note: There may be an error: Failed to unload module videobuf2_core,The solution is as follows:

https://github.com/IntelRealSense/librealsense/issues/2846

sudo modprobe -r uvcvideo
sudo modprobe -r videobuf2_core (imho it unwinds automatically once you release uvcvideo)
sudo modprobe -r videodev

And reapply the patch. If it doesn't work, restart it.

3.5 TM1-specific (optional):

In order to accomplish this add the driver's name hid_sensor_custom to /etc/modules file, eg:

echo 'hid_sensor_custom' | sudo tee -a /etc/modules

4、Building librealsense2 SDK

4.1、Run the following command:

cd ~/librealsense
mkdir build && cd build
cmake ../
cmake ../ -DBUILD_EXAMPLES=true

4.2、Recompile and installlibrealsense binaries:

sudo make uninstall && make clean && make && sudo make install

4.3、Install IDE (Optional): We use QtCreator as an IDE for Linux development on Ubuntu * Follow the link for QtCreator5 installation

4.4 Run the following command to verify:

realsense-viewer

The high probability is that the operation is unsuccessful and the firmware needs to be updated, see below.

5, update DFU (Device Firmware Update) firmware

This is the tutorial download link, pages 8-9:

https://www.intel.com/content/dam/support/us/en/documents/emerging-technologies/intel-realsense-technology/Linux-RealSense-D400-DFU-Guide.pdf

Excerpt as follows:

1) Add Intel server to list of repositories:

echo 'deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main' | sudo tee /etc/apt/sources.list.d/realsense-public.list

2) Register the servers public key:

sudo apt-key adv --keyserver keys.gnupg.net --recv-key 6F3EFCDE

3) Refresh the repository installation package list:

sudo apt-get update

4) Install the intel-realsense-dfu (with an asterisk) package, and link the mobile hotspot to install successfully:

sudo apt-get install intel-realsense-dfu*

5) Download the latest D400 series firmware .bin file (Signed Binary), where the .bin file download address:

https://downloadcenter.intel.com/download/28237/Latest-Firmware-for-Intel-RealSense-D400-Product-Family?v=t

6) Connect the camera to the computer, USB3.0 interface, input lsusb, and query the bus number and device number corresponding to “Intel Corp”:

lsusb

7) Upgrade the camera firmware of the D400 series:

intel-realsense-dfu –b 002 –d 002 –f –i /home/intel/downloads/Signed_Image_UVC_5_9_2_0.bin

(This command specifies bus #, device #, -f flag to force upgrade, and –i Flag for complete system path to downloaded FW.bin file, the following link is the storage path of the .bin file)
8) Verify firmware: Check firmware with command:

intel-realsense-dfu –p

9) Run the following command to verify:

realsense-viewer

If you still don't display the image, you can restart your computer and try it.

6, ROS package installation

1）Clone the latest Intel® RealSense™ ROS from hereInto 'catkin_ws/src/', then compile:

catkin_init_workspace
cd ..
catkin_make clean
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
catkin_make install
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

2) For how to call the camera in ROS, please see the link below.

https://github.com/intel-ros/realsense