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分类: 其他平台

2019-01-09 17:36:14

1. 用 1H3版本刷Joule 570x Bios. 
2. 用 joule 专用 linux 刷机.
3. ubuntu 进行apt update/dist-upgrade
4. 按照 https://github.com/intel-ros/realsense/blob/development/.travis.yml 进行安装.
    

点击(此处)折叠或打开

  1. ### librealsense
  2. - echo 'deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main' || sudo tee /etc/apt/sources.list.d/realsense-public.list
  3.   # - sudo apt-key adv --keyserver keys.gnupg.net --recv-key C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keys.gnupg.net:80 --recv-key C8B3A55A6F3EFCDE
  4.   - sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main"
  5.   - sudo apt-get update -qq
  6.   - sudo apt-get install librealsense2-dkms --allow-unauthenticated -y
  7.   - sudo apt-get install librealsense2-dev --allow-unauthenticated -y

  8. install ROS:
  9.   因为不能翻墙, 只能用国内运营商缓冲的内容
  10.   
    sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
  11. 或者
  12. sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'

  13.   - sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

  14. - sudo apt-get update && sudo apt-get upgrade -y
    然后 

点击(此处)折叠或打开

  1. vi /etc/apt/sources.list
  2. 然后改为以下内容:

  3. deb http://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse
  4. deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
  5. deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
  6. deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
  7. deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
  8. deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse
  9. deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
  10. deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
  11. deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
  12. deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse

sudo apt-get update 


  1.  sudo apt-get install ros-kinetic-desktop-full
  2.   sudo apt-get install ros-kinetic-rqt*

  3. - sudo apt-get install ros-kinetic-ros-base python-rosinstall ros-kinetic-rosbash ros-kinetic-openni-launch ros-kinetic-rviz ros-kinetic-uvc-camera  ros-kinetic-camera-calibration ros-kinetic-librealsense ros-kinetic-realsense-camera ros-kinetic-hls-lfcd-lds-driver ros-kinetic-cv-bridge ros-kinetic-find-object-2d ros-kinetic-rosserial ros-kinetic-rosserial-server ros-kinetic-rosserial-arduino ros-kinetic-joy ros-kinetic-teleop-twist-joy ros-kinetic-teleop-twist-keyboard ros-kinetic-laser-proc ros-kinetic-rgbd-launch ros-kinetic-depthimage-to-laserscan ros-kinetic-rosserial-arduino ros-kinetic-rosserial-python ros-kinetic-rosserial-server ros-kinetic-rosserial-client ros-kinetic-rosserial-msgs ros-kinetic-amcl ros-kinetic-map-server ros-kinetic-move-base ros-kinetic-urdf ros-kinetic-xacro ros-kinetic-compressed-image-transport ros-kinetic-rqt-image-view ros-kinetic-gmapping ros-kinetic-navigation ros-kinetic-ros-controllers ros-kinetic-gazebo* ros-kinetic-moveit* ros-kinetic-dynamixel-sdk ros-kinetic-dynamixel-workbench-toolbox ros-kinetic-robotis-math ros-kinetic-industrial-core  -y
  4. - sudo apt-get install -y chrony ntpdate git qtcreator libopencv-dev libqt4-dev libncurses5-dev:i386 openjdk-8-jdk ros-kinetic-rosjava-build-tools lib32z1 lib32ncurses5 lib32stdc++6
  5.   - sudo rosdep init
  6.   - rosdep update
  7.   - echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
  8.   - sudo apt-get install ros-kinetic-cv-bridge -y
  9.   - sudo apt-get install ros-kinetic-image-transport
  10.   - sudo apt-get install ros-kinetic-tf -y
  11.   - sudo apt-get install ros-kinetic-diagnostic-updater -y
  12.   - source ~/.bashrc
  13.   - mkdir -p ~/catkin_ws/src/realsense
  14.   - cd ~/catkin_ws/src/; git clone https://github.com/intel-ros/realsense.git

  15.   # install realsense2-camera
  16.   - cd ~/catkin_ws/src
  17.   - catkin_init_workspace
  18.   - cd ..
  19.   - catkin_make clean
  20.   - catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
  21.   - catkin_make install
  22.   - echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
  23.   - source ~/.bashrc
  24.   
  25.     # download data:
  26.   - bag_filename="http://realsense-hw-public.s3.amazonaws.com/rs-tests/TestData/outdoors.bag";
  27.   - wget $bag_filename -P "records/"
  28.     
  29.   # Run test:
  30. script:
  31.   - python src/realsense/realsense2_camera/scripts/rs2_test.py --all
  32.   
  33. 执行 (具体参考 https://github.com/intel-ros/realsense )
  34.     sudo apt-get install ros-kinetic-rgbd-launch
        roslaunch realsense2_camera rs_camera.launch   
  35.     roslaunch realsense2_camera rs_rgbd.launch
  36.     roslaunch realsense2_camera rs_aligned_depth.launch
  37.     rosrun rqt_reconfigure rqt_reconfigure
        一下还有多个摄像头的情况



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