ros2 wrapper for L515

[jin-yiwei]

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Required Info
Camera Model	L515
Firmware Version	(Open RealSense Viewer --> Click info)
Operating System & Version	Ubuntu 22
Kernel Version (Linux Only)	5.19.0
Platform	PC
Librealsense SDK Version	2.55.1
Language	python
Segment	others
ROS Distro	humble
RealSense ROS Wrapper Version	i don't sure

Issue Description

<Describe your issue / question / feature request / etc..>
i have 3 camera, two D435i and one L515, when i make: ros2 launch realsense2_camera rs_launch, d435i are ok, but l515 show "No realsense devices were found", do you know why?

[MartyG-RealSense]

Hi @jin-yiwei Support for L515 ended in librealsense version 2.54.1 because it is a retired camera model. If you are using the RealSense ROS wrapper then I recommend installing the 2.50.0 or 2.51.1 version of librealsense, and using the 4.51.1 ROS2 wrapper in order for your L515 to be detected.

[tonywong-1115]

Thanks for ur reply. But it seems the 2.54.1 version doesn't support ubuntu 22.04 because of the kernel version problem. The focal patches only support up to 5.11 kernel. Is there a better solution that I can launch l515 on 22.04?

[MartyG-RealSense]

You could build 2.51.1 from source code using the RSUSB Backend procedure described at IntelRealSense/librealsense#9931 (comment)

The 2.51.1 librealsense version's source code can be downloaded from the 'Assets' file list at the bottom of the page linked to below.

https://github.com/IntelRealSense/librealsense/releases/tag/v2.51.1

When librealsense is installed with the RSUSB Backend method, the build is not dependent on a particular Linux version or kernel version and does not require a kernel patch script to be run.

Once librealsense 2.51.1 has been successfully installed then you can build the 4.51.1 ROS2 wrapper from source code. There is a custom 'forked' version of 4.51.1 created by a RealSense ROS user at the link below that you could build.

https://github.com/Unlimited-Robotics/realsense-ros-4.51.1

[MartyG-RealSense]

Hi @jin-yiwei and @tonywong-1115 Do either of you require further assistance with this case, please? Thanks!

[jin-yiwei]

Hi @jin-yiwei and @tonywong-1115 Do either of you require further assistance with this case, please? Thanks!

Thanks~ It seems solved

[MartyG-RealSense]

You are very welcome. I'm pleased to hear that.

[MartyG-RealSense]

Case closed due to no further comments received.