T265

Setup

Install dependencies (realsense)

sudo apt-get install libssl-dev libusb-1.0-0-dev libudev-dev pkg-config libgtk-3-dev
sudo apt-get install git wget cmake build-essential
sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev at

Install librealsense2

wget https://github.com/IntelRealSense/librealsense/archive/refs/tags/v2.50.0.zip
unzip v2.50.0.zip
rm v2.50.0.zip
cd librealsense-2.50.0/
sudo bash ./scripts/setup_udev_rules.sh

## Ubuntu 20/22 (focal/jammy) with LTS kernel 5.13, 5.15 You might be possible to skip this.
#./scripts/patch-realsense-ubuntu-lts-hwe.sh

## Ubuntu 18/20 with LTS kernel (< 5.13) You might be possible to skip this.
#./scripts/patch-realsense-ubuntu-lts.sh

mkdir build && cd build
cmake ../ -DFORCE_RSUSB_BACKEND=ON -DBUILD_PYTHON_BINDINGS:bool=true -DCMAKE_BUILD_TYPE=release -DBUILD_EXAMPLES=true -DBUILD_GRAPHICAL_EXAMPLES=true -DBUILD_WITH_CUDA:bool=true -DPYTHON_EXECUTABLE:FILEPATH=`which python`
make -j4 
make install

Check your installation

realsense-viewer

RealSense SDK 2.0 Build Guide

Setup ROS with T265

sudo apt-get install ros-$ROS_DISTRO-realsense2-description

Using T265

Start the camera node

To start the camera node in ROS:

roslaunch realsense2_camera rs_t265.launch

This will stream all camera sensors and publish on the appropriate ROS topics.

The T265 sets its usb unique ID during initialization and without this parameter it wont be found. Once running it will publish, among others, the following topics:

• /camera/odom/sample
• /camera/accel/sample
• /camera/gyro/sample
• /camera/fisheye1/image_raw
• /camera/fisheye2/image_raw

To visualize the pose output and frames in RViz, start:

roslaunch realsense2_camera demo_t265.launch