Intel Realsense D435i&L515 驱动安装

我不是女神ヾ 2022-11-15 11:54 265阅读 0赞

### Intel Realsense D435i&L515 驱动安装 ###

*   *  0.引言
     *  1.D435i&L515固件更新
     *   *  1.1.D435i固件更新
         *  1.2.L515固件更新
     *  2.Intel Realsense驱动安装
     *  3.ROS Wrapper Install

## 0.引言 ##

由于以前装过驱动，再次安装可能涉及到一些固件与驱动的更新，以此文记录。

## 1.D435i&L515固件更新 ##

*  [参考文章][Link 1].

### 1.1.D435i固件更新 ###

先将D435i相机连接电脑，执行`rs-fw-update -l`查看设备：

connected devices:
    1) Name: Intel RealSense D435I, serial number: 909512071563, update serial number: 919423050785, firmware version: 05.12.01.00, USB type: 3.2

[下载][Link 2]当前最新的固件,固件名称：`Signed_Image UVC <firmware_version> .bin”`,然后在固件所在目录执行：

rs-fw-update -s 909512071563 -f Signed_Image_UVC_5_12_12_100.bin
    #Signed_Image_UVC_5_12_12_100.bin，是我下载的固件名，即待更新的固件名

![Alt][]  
检查是否更新成功，`rs-fw-update -l`：

connected devices:
    1) Name: Intel RealSense D435I, serial number: 909512071563, update serial number: 919423050785, firmware version: 05.12.12.100, USB type: 3.2

已成功更新到`05.12.12.100`版本。

### 1.2.L515固件更新 ###

将L515连接至电脑，执行`rs-fw-update -l`查看设备：

connected devices:
    1) Name: Intel RealSense L515, serial number: f0232260, update serial number: 0003acce083a, firmware version: 01.05.02.00, USB type: 2.1

[固件下载][Link 3]，此处下载当前最新版本`Signed_Image_UVC_1_5_5_0.bin`.更改串口号并执行更新：

rs-fw-update -s f0232260 -f  Signed_Image_UVC_1_5_5_0.bin
    #Signed_Image_UVC_1_5_5_0.bin，是我下载的固件名，即待更新的固件名

![Alt][Alt 1]  
检查是否更新成功，`rs-fw-update -l`：

connected devices:
    1) Name: Intel RealSense L515, serial number: f0232260, update serial number: 0003acce083a, firmware version: 01.05.05.00, USB type: 2.1

成功更新到`01.05.05.00`固件版本。

## 2.Intel Realsense驱动安装 ##

*  [IntelRealsense Github][].

如果上一次是通过`package`在线安装的，则更新只需要更新package就可以：

#Upgrade all the installed packages, including librealsense with:
    sudo apt-get upgrade

但不是很建议，这个命令会将其他包也更新可能会导致其他一些软件无法正常使用。可以先卸载包在安装：

#Uninstalling the Packages:
    #Important Removing Debian package is allowed only when no other installed packages directly refer to it. 
    #For example removing `librealsense2-udev-rules` requires `librealsense2` to be removed first.
    #Remove a single package with:
    sudo apt-get purge <package-name>
    #Remove all RealSense™ SDK-related packages with:
    dpkg -l | grep "realsense" | cut -d " " -f 3 | xargs sudo dpkg --purge

#下载驱动
    git clone https://github.com/IntelRealSense/librealsense
    cd librealsense
    #安装依赖项
    sudo apt-get install libudev-dev pkg-config libgtk-3-dev
    sudo apt-get install libusb-1.0-0-dev pkg-config
    sudo apt-get install libglfw3-dev
    sudo apt-get install libssl-dev
    #Install Intel Realsense permission scripts located in librealsense source directory:
    sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
    sudo udevadm control --reload-rules && udevadm trigger 
    #注意把realsense拔下来
    #Build and apply patched kernel modules for:
    #根据不同的ubuntu版本安装：对于Ubuntu 14/16/18 LTS
    ./scripts/patch-realsense-ubuntu-lts.sh
    sudo dmesg | tail -n 50
    #查看一下UVC是否安装成功
    
    #在源码文件夹路径编译安装
    mkdir build && cd build
    cmake ../ -DBUILD_EXAMPLES=true
    make -j20
    sudo make install
    #-DBUILD_EXAMPLES=true 这个选项表示带演示和教程的
    
    #进入/librealsense/build/examples/capture测试
    ./rs-capture

## 3.ROS Wrapper Install ##

*  [ROS Wrapper Github][].

需要注意驱动版本与ROS Wrapper版本要对应或者说是安装的ROS Wrapper版本要能支持前面安装的librealsense版本。

#建立IntelRealsense_ws
    mkdir IntelRealsense_ws/src
    cd IntelRealsense_ws/src
    catkin_init_workspace 
    git clone https://github.com/intel-ros/realsense.git
    cd .. && catkin_make
    #环境变量看自己是否设置为全局
    #测试
    source devel/setup.bash
    roslaunch realsense2_camera rs_camera.launch

[Link 1]: https://blog.csdn.net/fb_941219/article/details/102534405?spm=1001.2014.3001.5501
[Link 2]: https://dev.intelrealsense.com/docs/firmware-releases
[Alt]: /images/20221022/52aa87ce343e4e5e817834985556375a.png
[Link 3]: https://dev.intelrealsense.com/docs/firmware-releases-l500
[Alt 1]: /images/20221022/01ce8b8ba76a4e278e8786e57e5c383f.png
[IntelRealsense Github]: https://github.com/IntelRealSense/librealsense
[ROS Wrapper Github]: https://github.com/IntelRealSense/realsense-ros