Regarding Intel Realsense camera on ROS platform on Raspbian OS

[APrad4]

Hi,

We are planning to buy Intel Realsense D415 camera for creating depth maps for our application. We will be using a Rpi3 board with Raspbian OS on it. But there are a few queries which we need to be clarified before making the final decision. We will be using ROS (kinetic) as our third party software to communicate with all the devices on our robot. This is the link to the ROS wrapper available for the Intel Realsense devices : https://github.com/intel-ros/realsense GitHub - intel-ros/realsense: Intel(R) RealSense(TM) ROS Wrapper for D400 series and SR300 Camera . Here, the instructions are provided for ROS indigo on Ubuntu 14.04 and ROS kinetic on Ubuntu 16.04. I want to know if the device is not compatible with Raspbian. Is it the ROS wrapper that does not support any other LInux distribution other than Ubuntu? If it is not so, then where can I get support for installing the ROS wrapper for Raspbian? Can anyone suggest a workaround, in case the wrapper is only supported on Ubuntu?

Thank you.

/ansuman

[MartyG · Accepted solution]

As Raspbian is based on Debian Linux, I would speculate that it is within the realms of possibility for the RealSense SDK 2.0 to work on it, since it has a Debian distribution. You should take the approach of compiling the source code for SDK 2.0 instead of using the pre-built binary version in order to get best compatibility with your particular hardware / software setup.

https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md librealsense/distribution_linux.md at master · IntelRealSense/librealsense · GitHub

The link below has instructions from one of the Librealsense development leaders, Dorodnic, for building the SDK for any Linux-based OS.

https://github.com/IntelRealSense/librealsense/issues/1132 Linux support · Issue # 1132 · IntelRealSense/librealsense · GitHub

A greater problem will be that Raspberry Pi 3 uses USB 2.0 ports instead of USB 3.0 ones, which the 400 Series RealSense cameras prefer. Unlike previous RealSense cameras, you can at least get some functionality on a USB 2.0 connection with the 400 Series (in 'USB2' mode) but the settings available to use are considerably more limited than when the camera is used with a USB 3.0 port.

Edit: here is the official documentation for using 400 Series cameras with Raspberry Pi 3 without a USB 3.0 connection.

https://github.com/IntelRealSense/librealsense/blob/master/doc/RaspberryPi3.md librealsense/RaspberryPi3.md at master · IntelRealSense/librealsense · GitHub

[APrad4]

Hi MartyG,

Thank you for the links. This is what I was looking for. I will first try to build the SDK from source files on Raspbian and then make a final decision.

/ansuman