catkin_makeでのCmakeエラー

Question

前提・実現したいこと

turrtlebot3 waffle pi にてrealsenseD435を使用して3DSLAMマップを作成したいと考えています。

メインpcとturrtlebot3 waffle pi に搭載しているRaspberryPi3との無線LAN通信は確認し、動かすことは出来ましたが、RaspberryPi3に入っているROSの設定をいじくっているうちにcatkin_makeをしたら以下のエラーが発生しました。

いじくる内容としてはrealsenseSDKのパッケージを入れたり、realsense系のパッケージインストールをしていました。
元々遠隔操作(ssh -l ubuntu ipアドレス)で入ってroslaunch turtlebot3_bringup turtlebot3_robot.launch --screenを実行して動いていたのですが、それが実行できなくなりエラーを吐いていたため([turtlebot3_robot.launch] is neither a launch file in package [turtlebot3_bringup] nor is [turtlebot3_bringup] a launch file name
The traceback for the exception was written to the log file
)
というエラー

catkin_makeをしたら以下のエラーメッセージが発生しました。

メインpcではROSを使用して
ターミナル1で roslaunch realsense2_camera rs_aligned_depth.launch
ターミナル2で roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/aligned_depth_to_color/image_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info
の動作は確認できています

（エラーメッセージは手打ちのため英語の綴りミスがあるかもしれません）

発生している問題・エラーメッセージ

Cmake Warning at realsense/realsense2camera_camera/CmakeLists.txt:44 (find_package):
 Could not find a configuration file for package "realsense2" that is
 Compatible with requested version "2.48.0".

 The following configuration fills were considered but not accepted:

   /pot/ros/kinetic/lib/arm/-linux-gnueabihf/cmake/realsense2/realsense2Config.cmake, version: 2.45.0
   /usr/local/lib/cmake/realsense2/realsense2Config.cmake, version: 2.17.0


CMake Error at realsense/realsense2_camera/CMakeLists.txt:48 (message):


   Intel Realsense SDK 2.0 is missing, please install it from https://github.com/IntelRealSense/librealse/release



-- Configuring incomplete, errors occurred!
See also "/home/ubuntu/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/ubuntu/catkin_ws/build/CMakeFiles/CMakeError.log".
Makerfile:1690: recipe for target 'cmake_chake_build_system' failed
make *** [cmake_chake_build_system] Error 1
Invoking "make cmake_check_build_system" faild

該当のソースコード

試したこと

$ sudo apt-get update
$ wget https://github.com/IntelRealSense/librealse/release
$ ros-kineticの再インストール
$ sudo apt update && sudo apt upgrade
$ sudo apt install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev libglfw3-dev cmake
$ sudo apt install dphys-swapfile
$ mkdir ~/tmp
$ cd ~/tmp
$ wget https://github.com/IntelRealSense/librealsense/archive/v2.17.0.zip
$ unzip v2.17.0.zip
$ cd librealsense-2.17.0/
$ sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
$ sudo udevadm control --reload-rules && udevadm trigger
$ mkdir build
$ cd build
$ cmake ../ -DCMAKE_BUILD_TYPE=Release
$ sudo make uninstall && make clean && make && sudo make install
$ sudo apt-key adv --keyserver keys.gnupg.net --recv-key C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCDE
sudo apt-get update
$ git clone https://github.com/IntelRealSense/librealsense.git
$ sudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
$ sudo apt-get install libglfw3-dev
$
$

補足情報（FW/ツールのバージョンなど）

ubuntu 16.04 LTS
RaspberryPi3
rosはkinetik
turtlebot3 waffle pi

Answer 1

Realsense SDK 2.0 はビルド＆インストールしたのでしょうか？
「試したこと」ではソースをcloneしただけのように見えますが。

追記

RealSense SDK 2.0 のLinuxへのインストール方法はこちらに書かれています。

librealsense/distribution_linux.md at master · IntelRealSense/librealsense

ソースコードからビルドする方法も書かれていますが、ビルド済みパッケージをインストールするほうが楽かと。

Comments

[Mito_noob_]

すみません、まだ触って半年もたたない初心者ですので宜しければビルドとインストールの方法を教えて頂くことは出来ますでしょうか？色々と触りすぎて記憶があいまいな部分もあり申し訳ございません。

[itagagaki]

回答に追記しました。

[Mito_noob_]

sudo apt-get install librealsense2-dkmsここでコマンドかパッケージが見つからないというエラーメッセージが表示されました。

[itagagaki]

20.04に入れてみましたが、できましたよ。
・Register the server's public key
・Add the server to the list of repositories
はちゃんとできました？

[Mito_noob_]

回答が遅れてすみません。Add the server to the list of repositoriesでこのようなメッセージが出ます

Traceback (most recent call last):
File "/usr/lib/python3/dist-packages/apt/cache.py", line 520, in update
pulse_interval)
SystemError: W:The repository 'http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial Release' does not have a Release file., W:Data from such a repository can't be authenticated and is therefore potentially dangerous to use., W:See apt-secure(8) manpage for repository creation and user configuration details., W:The repository 'http://realsense-hw-public.s3.amazonaws.com/Debian/apt- repo Release' does not have a Release file., W:Data from such a repository can't be authenticated and is therefore potentially dangerous to use., W:See apt-secure(8) manpage for repository creation and user configuration details., W:The repository 'https://librealsense.intel.com/Debian/apt-repo kinect Release' does not have a Release file., W:Data from such a repository can't be authenticated and is therefore potentially dangerous to use., W:See apt-secure(8) manpage for repository creation and user configuration details., W:Skipping acquire of configured file 'main/binary-armhf/Packages' as repository 'https://librealsense.intel.com/Debian/apt-repo xenial InRelease' doesn't support architecture 'armhf', E:Failed to fetch http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo/dists/xenial/main/binary-armhf/Packages 403 Forbidden, E:Failed to fetch http://realsense-hw-public.s3.amazonaws.com/Debian/apt-/dists/repo/bionic/binary-armhf/Packages 403 Forbidden, E:Failed to fetch https://librealsense.intel.com/Debian/apt-repo/dists/kinect/main/binary-armhf/Packages 403 Forbidden, E:Some index files failed to download. They have been ignored, or old ones used instead.

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
File "/usr/bin/add-apt-repository", line 173, in <module>
if not sp.add_source_from_shortcut(shortcut, options.enable_source):
File "/usr/lib/python3/dist-packages/softwareproperties/SoftwareProperties.py", line 782, in add_source_from_shortcut
cache.update(sources_list=new_debsrc_entry.file)
File "/usr/lib/python3/dist-packages/apt/cache.py", line 522, in update
raise FetchFailedException(e)
apt.cache.FetchFailedException: W:The repository 'http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial Release' does not have a Release file., W:Data from such a repository can't be authenticated and is therefore potentially dangerous to use., W:See apt-secure(8) manpage for repository creation and user configuration details., W:The repository 'http://realsense-hw-public.s3.amazonaws.com/Debian/apt- repo Release' does not have a Release file., W:Data from such a repository can't be authenticated and is therefore potentially dangerous to use., W:See apt-secure(8) manpage for repository creation and user configuration details., W:The repository 'https://librealsense.intel.com/Debian/apt-repo kinect Release' does not have a Release file., W:Data from such a repository can't be authenticated and is therefore potentially dangerous to use., W:See apt-secure(8) manpage for repository creation and user configuration details., W:Skipping acquire of configured file 'main/binary-armhf/Packages' as repository 'https://librealsense.intel.com/Debian/apt-repo xenial InRelease' doesn't support architecture 'armhf', E:Failed to fetch http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo/dists/xenial/main/binary-armhf/Packages 403 Forbidden, E:Failed to fetch http://realsense-hw-public.s3.amazonaws.com/Debian/apt-/dists/repo/bionic/binary-armhf/Packages 403 Forbidden, E:Failed to fetch https://librealsense.intel.com/Debian/apt-repo/dists/kinect/main/binary-armhf/Packages 403 Forbidden, E:Some index files failed to download. They have been ignored, or old ones used instead.

[Mito_noob_]

catin_ws/src からrealsenseというのをrm -rf realsense/で消したらcatkin_makeは通るようになった(根本的な解決になっていない気はする)のですが、roslaunch turtlebot3_bringup turtlebot3_robot.launch --screenを実行しようとすると前提にも書いている通り

[turtlebot3_robot.launch] is neither a launch file in package [turtlebot3_bringup] nor is [turtlebot3_bringup] a launch file name
The traceback for the exception was written to the log file

というエラーが出てしまいます。