Realsense-T265

Since the Realsense T265 has been officially removed from support, in order to avoid multiple version conflicts, this repository backtracks to the official libraries and ROS2 packages that can support the T265 model, and builds them from source code for local installation and operation.

Installation Instructions

The repository is compiled and tested in the following system environment, and other environments are modified according to the actual situation.

Step 1: Install the ROS2 distribution

• Ubuntu 22.04:
  • ROS2 Humble

Step 2: Download source

cd [ros2_ws]/src
git clone http://192.168.20.16/SLAM-Group/RealsenseT265.git

Step 3: Build and install the Intel® RealSense™ SDK 2.0

cd [path_librealsense] && mkdir build && cd build
cmake -DCMAKE_INSTALL_PREFIX=../install ..
make & make install

Step 4: Install dependencies

cd [ros2_ws]/src
sudo apt-get install python3-rosdep -y
sudo rosdep init # "sudo rosdep init --include-eol-distros" for Dashing
rosdep update
rosdep install -i --from-path src --rosdistro $ROS_DISTRO --skip-keys=librealsense2 -y

Step 5: Build

colcon build --symlink-install --packages-ignore librealsense2 --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -G Ninja

Step 6: Terminal environment

ROS_DISTRO=<YOUR_SYSTEM_ROS_DISTRO>  # set your ROS_DISTRO: humble, galactic, foxy, eloquent, dashing
source /opt/ros/$ROS_DISTRO/setup.bash
cd [ros2_ws]
source install/local_setup.bash

Usage Instructions

Start the camera node

To start the camera node:

ros2 run realsense2_camera realsense2_camera_node --ros-args -p enable_pose:=true -p device_type:=t265

or, with a launch file:

ros2 launch realsense2_camera rs_launch.py
ros2 launch realsense2_camera rs_launch.py enable_pose:=true device_type:=t265

Start the T265 with a launch and configuration file (recommend)

ros2 launch realsense2_camera rs_t265_launch.py

See librealsense/readme & realsense-ros/readme for more details