Intel RealSense Package for ROS on NVIDIA Jetson TX1

Intel provides an open source ROS package for their RealSense cameras. In this article, we install the package on the Jetson TX1. In the video, we even take the package out for a spin with a RealSense R200 camera connected to a Jetson TX1. Looky here:

Background

The Intel RealSense cameras are small form factor RGBD cameras that provide high performance at an inexpensive price point. For many robotic applications, the RealSense camera is a good fit. Getting the RealSense ROS packages up and running on the Jetson TX1 is fairly straightforward.

Installation

The RealSense ROS package has two prerequisites on the Jetson TX1. First, modify the Jetson TX1 kernel to allow the Jetson to understand the different video modes of the RealSense cameras. This previous article describes the process: Intel RealSense Camera Installation – NVIDIA Jetson TX1.

The librealsense installation article above installs librealsense on the TX1. This is strictly not necessary as the RealSense ROS packages needs librealsense to be installed from source in the Catkin Workspace. However, following the article allows for easy testing. Note that you can uninstall the librealsense library if desired:

$ cd librealsense
$ sudo make uninstall

The second prerequisite is that ROS must be installed on the Jetson TX1, along with a Catkin Workspace. Here is an earlier article Robot Operating System (ROS) on NVIDIA Jetson TX1 about the installation process.

Install RealSense Packages for ROS

There are convenience scripts to install the Intel RealSense ROS package on the Github JetsonHacks account. After the prerequisites mentioned above have been installed:

$ git clone https://github.com/jetsonhacks/installRealSenseROSTX1
$ cd installRealSenseROSTX1
$ ./installRealSenseROSTX1 <catkin workspace name>

Where catkin_workspace_name is the name of the Catkin Workspace to place the RealSense package. In the video, the workspace is named jetsonbot.

Launch files for the camera node/nodelet are available in the realsense_camera source directory in the launch folder. There are also rviz launch files in the rviz folder.

Notes

There is a file called Notes.txt in the installRealSenseROSTX1 directory which has some short notes for installing rviz and rqt-reconfigure to help visualize the output from the RealSense camera and adjust camera parameters on the Jetson TX1.

The installation above shows a Jetson TX1 running L4T 24.2.1. The scripts install Intel RealSense ROS package version 1.5.

Unlike most of articles and videos on JetsonHacks, installation of the Intel RealSense packages requires some prerequisites to be installed before installation. While previous articles cover the steps involved, be aware that this is a little more complicated than most of the software installation articles on this site.

As always, the scripts made available from JetsonHacks only provide a guide for how to complete the described task, you may have to modify them to suit your needs.

5 Comments on Intel RealSense Package for ROS on NVIDIA Jetson TX1

  1. Hi! I’ve just re-flashed my TX1 to Jetpack L4T 2.3.1 and wanted to setup the realsense driver based on this tutorial. I executed directly the script “./installRealSenseROSTX1” and everything went fine (both librealsense and the ros wrapper got installed). When launching an error popped up ‘uvc kernel module not loaded’ as expected since I didn’t patch anything.

    Now, my question is: In your other article (http://www.jetsonhacks.com/2016/10/06/intel-realsense-camera-installation-nvidia-jetson-tx1/) which section do I need to follow; ‘Kernel and Module Building’ or ‘USB Video Class Module’ in order to get rid of the error.

    Best regards,
    Badabais

    • My experience is that you have to do both. You have to get all the kernel source files, setup the local version of the kernel, build etc. After that you patch the UVC Module to add the RealSense video modes and build it. That should all be covered in the link you posted. Thanks for reading!

  2. Hi – been following and mimicking you with a TK1, ROS and a Realsense, brilliant, thanks very much for a gentle but comprehensive intro! I’m saving up for a TX1 now…

    Question: Have you explored rtabmap with TX1, ROS and Realsense? Would dearly love to see how it’s done as I just can’t get that combination to work with a TK1 properly

  3. Hey once I get drivers installed and get the camera to publish the data, how do I make it to a point where I can make the surrounding and save the data. I basically want to learn how to build an autonomous robot using this camera at the end. Could you please, PLEASE, help me with it? Thanks!

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