D435i SLAM on Raspbian buster /raspberry pi 4
I have followed the instructions on this site:https://github.com/IntelRealSense/realsense-ros/wiki/SLAM-with-D435i which said to get realsense2_camera from https://github.com/IntelRealSense/realsense-ros but as i am using Raspbian instead of ubuntu I used http://wiki.ros.org/ROSberryPi/Installing%20ROS%20Melodic%20on%20the%20Raspberry%20Pi to get ROS melodic on the Raspbian operating system which i thought was an ok alternative. But when I run "export ROS_VER=melodic" and "sudo apt-get install ros-$ROS_VER-realsense2-camera" my terminal window says E:unable to locate package ros-melodic-realsense2-camera.
Is it even possible to get slam on Raspbian. The main reason i'm adamant on using Raspbian instead of ubuntu is because i couldn't set up the d435i on an ubuntu operating system using the instructions https://dev.intelrealsense.com/docs/using-depth-camera-with-raspberry-pi-3 but was able to do it with https://github.com/acrobotic/Ai_Demos_RPi/wiki/Raspberry-Pi-4-and-Intel-RealSense-D435 (the acrobatic instructions). Also because i'd rather use the pi 4 than my pi 3 and ubuntu 18.04 doesn't work on the pi 4.
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There is an alternative guide in the link below to installing Librealsense and ROS on a Pi 4 with Raspbian Buster that you could try:
https://eleccelerator.com/wiki/index.php?title=Raspbian_Buster_ROS_RealSense
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I researched this case extensively from the beginning to look for new possibilities to follow, but did not find much. My feling is that at this point, the best path to follow may be:
1. Download a pre-made SD card image of Librealsense for Raspberry Pi 4 that Intel created and write it to an SD card. It is available from the link below.
This should provide a reliable installation of librealsense on Pi 4 to build ROS upon.
2. Build ROS from source code using Method 2:
https://github.com/IntelRealSense/realsense-ros#step-2-install-intel-realsense-ros-from-sources
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When doing method 2 i got the ros-package ddynamic_reconfigure and proceeded with catkin_make clean but then it gives a cmake error saying I need dynamic_reconfigure, nav_msgs, nodelet, bondcpp and pluginlib so i then go those in the same manner as ddynamic_reconfigure. But then it says instead of using catkin_make clean use catkin_make_isolated so i did the aswell. but this gives me a new error saying pluginlib is a package with an unkown build type and so i'm at a bit of a dead end.
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The eccelerator guide had problems with pluginlibs too and offered this advice about their error: "This happened when I tried to use a prebuilt version of libboost 1.58 instead of building my own version. Seems like the prebuilt version was built using an older compiler and so the symbols don't match. The solution is to build libboost 1.58 from scratch with the new compiler, or switch the entire build to the old compiler".
Building ROS on Pi 4 seems to be rather difficult, to be honest!
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in the instructions for ROSberry for setting up kinetic there is instructions that account for this I think sudo apt remove libboost1.67-dev
$ sudo apt autoremove
$ sudo apt install -y libboost1.58-dev libboost1.58-all-devetc...
On https://github.com/IntelRealSense/realsense-ros#step-2-install-intel-realsense-ros-from-sources it says to make sure all dependencies are installed, this is where i'm having problems.I keep running catkin_make clean and catkin_make_isolated to see what dependency i'm missing and then cloning the url's into catkin_ws/src in the same way i got dynamic_reconfigure and ddynamic_reconfigure and then using git checkout 'git tag | sort -V | grep -P "^\d+\.\d+\.\d+" | tail -1'. Do you have any information or guides about this section or the proper way of getting these dependencies (I only first started using a Pi earlier this year so idk if my questions might be a bit basic.)
Edit: At the bottom of http://wiki.ros.org/ROSberryPi/Installing%20ROS%20Kinetic%20on%20the%20Raspberry%20Pi there is a section about adding released packages Im going to put in realsense2_camera, imu_filter_madgwick, rtabmap_ros and robot_localization then try run roslaunch realsense2_camera opensource_tracking.launch
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Apologies for the delay in responding further. I would speculate that the travis.yml dependencies that the Method 2 instructions refer to are the sudo apt-get instructions in the link below:
https://github.com/IntelRealSense/realsense-ros/blob/development/.travis.yml#L23
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