MrLacquer / realsense-ros-armarker

Realsense ROS AR marker

Overview

This is a ROS package developed for check up the Realsense camera with AR marker.
The packages have been tested under ROS Kinetic, Ubuntu 16.04, D435i.

Author: Hyeonjun Park, [e-mail]
Affiliation: Human-Robot Interaction LAB, Kyung Hee Unviersity, South Korea

Installation

• Before do this, please backup important files.

Dependencies

This software is built on the Robotic Operating System (ROS).
One line install: https://cafe.naver.com/openrt/14575

for Desktop

wget https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_tools/master/install_ros_kinetic.sh && chmod 755 ./install_ros_kinetic.sh && bash ./install_ros_kinetic.sh

• Realsense ROS (ref. link)

$ sudo apt-key adv --keyserver keys.gnupg.net --recv-key C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCDE
$ sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u
$ sudo apt-get install librealsense2-dev librealsense2-utils ros-kinetic-rgbd-launch

$ cd ~/catkin_ws/src
$ git clone https://github.com/intel-ros/realsense.git
$ cd ~/catkin_ws && catkin_make

• ar_track_alvar

$ sudo apt-get install ros-kinetic-ar-track-alvar

How to start?

$ cd ~/catkin_ws/src && git clone https://github.com/MrLacquer/realsense-ros-armarker.git
$ cd ~/catkin_ws && catkin_make
$ rospack profile && rosstack profile

$ roslaunch realsense-ros-ar-marker realsense_ros_ar_marker_rviz.launch

Demo