Adele is a 6-Axis robotic arm project by the SUTD Organization of Autonomous Robotics (SOAR).
The following instructions were tested to work on a LattePanda Alpha with 8Gb RAM & a 250Gb Samsung 970 EVO NVMe M.2 SSD.
Please ensure that you use the adele_urdf and adele_moveit_config packages, any packages bearing the name "jessica/j2/jess2" are depreciated and will be deleted eventually.
Install catkin build.
sudo apt install python3-catkin-tools python3-osrf-pycommon
To install realsense SDK on your computer as well as the ROS wrapper, do the following:
chmod +x realsense_install.sh
chmod +x realsense_ros_install.sh
./realsense_install.sh
./realsense_ros_install.sh
Reboot.
To uninstall:
chmod +x realsense_uninstall.sh
./realsense_uninstall.sh
To run RealSense Viewer:
/opt/realsense/bin/realsense-viewer
To visualize RealSense data on RVIZ:
In a terminal window:
cd projects/ros/ws00/
roslaunch realsense2_camera rs_camera.launch
In another terminal window:
rosrun rviz rviz
In RVIZ, under Displays, Global Options, change the Fixed Frame parameter, using the drop down menu, to 'camera_link'
Click add & under /camera, /depth, /image_rect_raw, double click the DepthCloud option with the 'raw' parameter set in the drop down menu. And at long last, the depth cloud from the RealSense camera should be displayed.
Another example that can be run:
roslaunch realsense2_camera demo_pointcloud.launch