Update realsense package

dockerfiles/install_scripts/core_packages.sh

@@ -26,8 +26,6 @@ apt install -y \
     ros-$ROS_DISTRO-nav2-bringup \
     ros-$ROS_DISTRO-ouster-ros \
     ros-$ROS_DISTRO-plotjuggler-ros \
-    ros-$ROS_DISTRO-realsense2-camera \
-    ros-$ROS_DISTRO-realsense2-description \
     ros-$ROS_DISTRO-rmw-cyclonedds-cpp \
     ros-$ROS_DISTRO-ros-gz \
     ros-$ROS_DISTRO-ros2-controllers \

dockerfiles/install_scripts/realsense_sdk.sh

@@ -0,0 +1,49 @@
+#!/bin/bash -i
+
+# SPDX-FileCopyrightText: Alliander N. V.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+set -e
+source /home/$UNAME/.bashrc
+# apt update
+apt-get update  # && apt-get upgrade -y && apt-get dist-upgrade -y
+
+# Core packages
+apt-get install -y \
+    libssl-dev \
+    libusb-1.0-0-dev \
+    libudev-dev \
+    pkg-config \
+    libgtk-3-dev
+
+# Build tools
+apt-get install -y \
+    git \
+    wget \
+    cmake \
+    build-essential \
+    v4l-utils \
+    rsync
+
+# Linux Backend and Dev. Environment
+apt-get install -y \
+    libglfw3-dev \
+    libgl1-mesa-dev \
+    libglu1-mesa-dev \
+    at
+
+echo "Dependencies installed. Installing the RealSense SDK..."
+
+# Download + install RealSense SDK
+ZIP_URL="https://github.com/IntelRealSense/librealsense/releases/download/v2.57.3/librealsense2_jammy_x86_debians_2_57_3_beta.zip"
+TEMP_DIR="/tmp/realsense_install"
+ZIP_FILE="$TEMP_DIR/librealsense2_jammy_x86_debians_2_57_3_beta.zip"
+
+mkdir -p "$TEMP_DIR"
+wget -O "$ZIP_FILE" "$ZIP_URL"
+unzip "$ZIP_FILE" -d "$TEMP_DIR"
+dpkg -i "$TEMP_DIR"/*.deb
+rm -rf "$TEMP_DIR"
+
+echo "Installation completed."

dockerfiles/install_scripts/realsense_wrapper.sh

@@ -0,0 +1,20 @@
+#!/bin/bash -i
+
+# SPDX-FileCopyrightText: Alliander N. V.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+set -e
+source /home/$UNAME/.bashrc
+apt update
+
+cd /home/$UNAME && \
+    mkdir realsense_ws && \
+    cd /home/$UNAME/realsense_ws && \
+    git clone -b 4.57.2 https://github.com/IntelRealSense/realsense-ros.git src/realsense_ros
+
+apt update && apt-get install python3-rosdep -y
+rosdep update && rosdep install -i --from-path src --rosdistro $ROS_DISTRO --skip-keys=librealsense2 -y
+colcon build
+
+echo "source /home/$UNAME/realsense_ws/install/setup.bash" >>/home/$UNAME/.bashrc

dockerfiles/rcdt_robotics.Dockerfile

@@ -11,6 +11,12 @@ RUN ./ros2_jazzy.sh
 COPY ./install_scripts/core_packages.sh .
 RUN ./core_packages.sh
 
+COPY ./install_scripts/realsense_sdk.sh .
+RUN ./realsense_sdk.sh
+
+COPY ./install_scripts/realsense_wrapper.sh .
+RUN ./realsense_wrapper.sh
+
 COPY ./install_scripts/zed_sdk.sh .
 RUN ./zed_sdk.sh
 

pyproject.toml

@@ -77,6 +77,7 @@ norecursedirs = ["install", "build", "log",".venv",".cache"]
 extra-paths = [
     "/opt/ros/jazzy/lib/python3.12/site-packages/",
     "/home/rcdt/franka_ws/install/franka_msgs/lib/python3.12/site-packages/",
+    "/home/rcdt/realsense_ws/install/realsense2_camera_msgs/lib/python3.12/site-packages/",
     "ros2_ws/install/rcdt_messages/lib/python3.12/site-packages/",
     "ros2_ws/src/rcdt_franka/",
     "ros2_ws/src/rcdt_panther/",

ros2_ws/src/rcdt_sensors/launch/realsense.launch.py

@@ -56,8 +56,30 @@ def launch_setup(context: LaunchContext) -> list:
                     "enable_rgbd": True,
                     "enable_sync": True,
                     "align_depth.enable": True,
+                    "tf_prefix": namespace + "/",
+                    "rgb_camera.color_profile": "640,480,60",
+                    "depth_module.depth_profile": "640,480,60",
                 }
             ],
+            remappings=[
+                (
+                    f"/{namespace}/camera/color/image_raw",
+                    f"/{namespace}/color/image_raw",
+                ),
+                (
+                    f"/{namespace}/camera/color/camera_info",
+                    f"/{namespace}/color/camera_info",
+                ),
+                (
+                    f"/{namespace}/camera/depth/camera_info",
+                    f"/{namespace}/depth/camera_info",
+                ),
+                (
+                    f"/{namespace}/camera/aligned_depth_to_color/image_raw",
+                    f"/{namespace}/depth/image_rect_raw",
+                ),
+                (f"/{namespace}/camera/rgbd", f"/{namespace}/rgbd"),
+            ],
         )
         realsense = LaunchDescription(
             [Register.on_start(realsense2_camera_node, context)]