LabelFusion-RealSense

This repository is guide to install and run LabelFusion with RealSense

Install or Build librealsense

• Install
• Build

Install ROS

• Install ROS Kinetic on Ubuntu 16.04
• Install ROS Melodic on Ubuntu 18.04

Build LCM

sudo apt install build-essential libglib2.0-dev default-jdk python-dev
cd ./3rd-party/lcm
mkdir build && cd build
cmake ..
make
sudo make install
cd ../..

Build PCL

cd ./3rd-party/pcl
mkdir build && cd build
cmake ..
make
sudo make install
cd ../..

Configure ROS Package

• realsense-ros
• ddynamic_reconfigure
• rgbd_ros_to_lcm
• rgbd_launch

cd ./catkin_ws/src/rgbd_ros_to_lcm/include
lcm-gen -x ../lcmtypes/*.lcm
cd ../../../..

Make & Install ROS Package

cd ./catkin_ws/src/
catkin_init_workspace
cd ..
catkin_make clean
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
catkin_make install
echo "source `pwd`/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
cd ..

Install docker

Install

Install nvidia-docker 1.0.1

wget -P /tmp https://github.com/NVIDIA/nvidia-docker/releases/download/v1.0.1/nvidia-docker_1.0.1-1_amd64.deb
sudo dpkg -i /tmp/nvidia-docker*.deb && rm /tmp/nvidia-docker*.deb

Collect raw data from Realsense

roscore

roslaunch realsense2_camera rs_rgbd.launch

roslaunch rgbd_ros_to_lcm lcm_republisher.launch

lcm-logger

Not done yet, coming soon