Using Realsense T265 to build occupancy grid and navigate with move_base

chrissunny94 · November 27, 2020, 2:24am

Hi guys , i have managed managed to put together the move_base navigation stack using the

T265
D435

You could try this on your Magni-Robot’s .

Perhaps create an automated mechanism to mark the global positions of the fiducials and use move_basic more effectively .

mjstn2011 · November 29, 2020, 10:05am

Wow! This is really cool! Thanks for the post!

aster · December 4, 2020, 8:54am

Hi there, may i ask how do u process the intel realsense data? is it through the raspberry pi or do u use your computer to process the intel realsense data?

chrissunny94 · December 7, 2020, 9:18am

Hi @aster , I am using a Nvidia Jetson Nano to do the processing . Its fast enough to handle such stuff .

I have a 8GB RPI4 lying around , i will test it on it and confirm the same too .

aster · December 9, 2020, 4:48am

hi @chrissunny94, i tried using pi4. but apprently i am having issue with compatibility of armhf. did u encounter the same problem?

chrissunny94 · December 9, 2020, 5:51am

@aster

You would need to compile the librealsense from source , i couldnt seem to install them via apt-get

Use the following script .

github.com

chrissunny94/t265_json/blob/master/install_librealsense.sh

sudo sh -c "echo "CONF_SWAPSIZE=2048" >> /etc/dphys-swapfile"
sudo /etc/init.d/dphys-swapfile restart swapon -s
sudo apt update;sudo apt -y upgrade

sudo apt-get install -y libdrm-amdgpu1 libdrm-amdgpu1-dbg libdrm-dev libdrm-exynos1 libdrm-exynos1-dbg libdrm-freedreno1 libdrm-freedreno1-dbg libdrm-nouveau2 libdrm-nouveau2-dbg libdrm-omap1 libdrm-omap1-dbg libdrm-radeon1 libdrm-radeon1-dbg libdrm-tegra0 libdrm-tegra0-dbg libdrm2 libdrm2-dbg
sudo apt-get install -y libglu1-mesa libglu1-mesa-dev glusterfs-common libglu1-mesa libglu1-mesa-dev 

sudo apt-get install -y libglu1-mesa libglu1-mesa-dev mesa-utils mesa-utils-extra xorg-dev libgtk-3-dev libusb-1.0-0-dev

cd ~
git clone https://github.com/IntelRealSense/librealsense
cd ~/librealsense
sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/ 
sudo udevadm control --reload-rules && udevadm trigger 
mkdir  ~/librealsense/build  
cd ~/librealsense/build
cmake .. -DBUILD_EXAMPLES=true -DCMAKE_BUILD_TYPE=Release -DFORCE_LIBUVC=true
make -j1
sudo make install

aster · December 9, 2020, 7:00am

hi @chrissunny94. i did manage to get it to install the realsense view. but i found out that i am unable to publish the d435 data. once i try typing the code to run. it causes the connection between my rp and pc to disconnected. i am using pi4 atm. how do u manage to collect the d435 data? did u publish from the rp4 while ur pc subscribe it? or u direct connect ur monitor to ur rp4?

As u can see on the picture below. it stuck here the moment i tried to get it to published its data

edited:
fixed the problem. apparently 1 of the usb 3.0 is having an issue. after switching it over to the other usb 3.0. it works perfectly
but with noticable delay

chrissunny94 · December 11, 2020, 5:06am

@aster

Awesome . Thanks for updating .