realsense 使用IMU出错
已经参照blogs:
https://blog.youkuaiyun.com/zxl970921/article/details/127153556
将 realsense_ws/src/realsense2_camera/launch/rs_camera.launch 中launch文件内容修改,修改如下:
<arg name="enable_gyro" default="true"/>
<arg name="enable_accel" default="true"/>
<arg name="unite_imu_method" default="linear_interpolation"/>
然后启动运行:
roslaunch realsense2_camera rs_camera.launch
如果有以下报错问题:
[ERROR] [1664782650.663608546]: An exception has been thrown: Failed to open scan_element /sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.5/0003:8086:0B3A.0006/HID-SENSOR-200076.3.auto/iio:device1/scan_elements/in_anglvel_x_en Last Error: Permission denied
[ERROR] [1664782650.663637692]: Exception: Failed to open scan_element /sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.5/0003:8086:0B3A.0006/HID-SENSOR-200076.3.auto/iio:device1/scan_elements/in_anglvel_x_en Last Error: Permission denied
realsense的udev权限脚本
找到路径librealsense/scripts/下的setup_udev_rules.sh
cd到librealsense下,先拔下所有摄像头,再执行
./scripts/setup_udev_rules.sh
设置分辨率 1280720 640480
640*480
roslaunch realsense2_camera rs_camera.launch color_width:=640 color_height:=480 color_fps:=15
1280*720
roslaunch realsense2_camera rs_camera.launch color_width:=1280 color_height:=720 color_fps:=30
rosbag 记录并保存数据
保存 /camera/color/image_raw /camera/depth/image_rect_raw /camera/imu
首先启动:
roslaunch realsense2_camera rs_camera.launch
然后启动记录程序:
rosbag record /camera/color/image_raw /camera/depth/image_rect_raw /camera/imu
查看保存好的rosbag信息
rosbag info xxxxx.bag
librealsense 库在安装过程中无法下载libcurl
问题: fatal: unable to access ‘https://github.com/curl/curl.git/’: GnuTLS recv error (-110): The TLS connection was non-properly terminated
解决方案:
直接去 https://github.com/curl/curl 下载curl.zip。
注释掉 ~/librealsense/CMake 文件下的 external_libcurl.cmake 的 GIT_REPOSITORY “git://github.com/curl/curl.git” 。即在 GIT_REPOSITORY "git://github.com/curl/curl.git"前加#。
并将提前下载后的 curl.zip 解压后 改名为 libcurl ,放入到 ~/librealsense/build/third-party。
由此可跳过git clone libcurl 失败的问题。
感觉直接下载zip比git clone快。