T265 Robot Navigation

Pre requisites

sudo apt install python-catkin-tools

sudo apt install ros-melodic-depthimage-to-laserscan

Build from source

mkdir ~/realsense_ws/src -p
cd ~/realsense_ws/src
git clone https://github.com/chrissunny94/t265_robot_navigation
cd ..
catkin build
source devel/setup.bash

Please set the correct serial numbers of both the Realsense cameras

Use the following command to see the serial number of your cameras

rs-enumerate-devices

It can be adjusted in the cameras.launch file

occupancy/launch/cameras.launch

PLEASE MAKE SURE YOU HAVE A PROPER RGID SETUP

To run the Occupancy Grid Generator

roslaunch occupancy occupancy_live_rviz.launch

To run the Occupancy Grid Generator(Without RVIZ)

roslaunch occupancy occupancy_live.launch

``

To run move_base

roslaunch jackal_navigation odom_navigation_demo.launch

If all goes well , you will be able to give a navigation goal via RVIZ by clicking on 2D nav goal

LINK TO YOUTUBE VIDEO

Some additional INFO

(please save map in maps folder and change map file name in move_base_demo.launch file.....If we are using real robot, then change parameter of robot_base_frame from t265_link to base link in costmap_common.yaml file)

iRNERO

Please set the correct serial numbers of both the Realsense cameras

Use the following command to see the serial number of your cameras

This is required for using multiple Realsense cameras

rs-enumerate-devices

edit the contents of realsensecameras.launch with the proper serial numbers of the individual Cameras .

Catkin build , source the workspace and then you should be good to go !

There are two configurations of the robot

Please edit accordingly in the rur_navigation.launch

Config 1

set only_t265_camera = true, set both_realsense_camera = false, set lidar = true

• t265
• lidar

Config 2

set only_t265_camera = false, set both_realsense_camera = true, set lidar = false

• t265
• D435

rolaunch rur_navigation rur_navigation.launch

The above launch file will launch

`- Lidar ROS drivers

• T265 ROS drivers
• move_base
• gmapping
• RVIZ

Usefull Links that helped me solve this

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• https://msadowski.github.io/Realsense-T265-First-Impressions/
  

• https://github.com/IntelRealSense/librealsense/blob/master/doc/t265.md

• https://markku.ai/post/realsense-t265/