Document how to use the device on WSL

[S-Dafarra]

Recently I wanted to do a quick test with the realsense on Windows, so I tried to install the device via conda, but sadly it is not available on Windows. So I gave a shot to WSL. I managed to install the device easily with conda, but no realsense was found. I finally managed to run the device, so I thought to share the instructions here. Let me know if you want me to copy them in another place.

Related issue: realsenseai/librealsense#10506

First, you need to allow WSL to access the USB devices (source https://learn.microsoft.com/en-gb/windows/wsl/connect-usb)

Download usbipd from https://github.com/dorssel/usbipd-win/releases and install it. Then, from a terminal (either cmd or PowerShell), run

usbipd list

This should output something like.

Connected:
BUSID  VID:PID    DEVICE                                                        STATE
1-10   27c6:533c  Goodix fingerprint                                            Not shared
1-11   0c45:6a0c  Integrated Webcam                                             Not shared
1-14   8087:0026  Intel(R) Wireless Bluetooth(R)                                Not shared
1-17   8086:0b3a  Intel(R) RealSense(TM) Depth Camera 435i Depth, Intel(R) ...  Not shared
3-1    0bda:8153  Realtek USB GbE Family Controller #2                          Not shared
4-6    413c:c010  Dell DA310                                                    Not shared
5-1    0451:3421  Texas Instruments USB Billboard Device, USB Input Device      Not shared
5-2    413c:301a  USB Input Device                                              Not shared
5-3    413c:2113  USB Input Device                                              Not shared
5-4    0451:3410  TUSB3410 EECode Ser                                           Not shared

Persisted:
GUID                                  DEVICE

usbipd: warning: Unknown USB filter 'usbfilter' may be incompatible with this software; 'bind --force' may be required.

Then, it is necessary to bind the realsense. With administrative privileges, run the following

 usbipd bind --busid 1-17

Note that 1-17 is the value that you see under BUSID. Now the output of usbipd list should look like

Connected:
BUSID  VID:PID    DEVICE                                                        STATE
1-10   27c6:533c  Goodix fingerprint                                            Not shared
1-11   0c45:6a0c  Integrated Webcam                                             Not shared
1-14   8087:0026  Intel(R) Wireless Bluetooth(R)                                Not shared
1-17   8086:0b3a  Intel(R) RealSense(TM) Depth Camera 435i Depth, Intel(R) ...  Shared
3-1    0bda:8153  Realtek USB GbE Family Controller #2                          Not shared
4-6    413c:c010  Dell DA310                                                    Not shared
5-1    0451:3421  Texas Instruments USB Billboard Device, USB Input Device      Not shared
5-2    413c:301a  USB Input Device                                              Not shared
5-3    413c:2113  USB Input Device                                              Not shared
5-4    0451:3410  TUSB3410 EECode Ser                                           Not shared

Persisted:
GUID                                  DEVICE

usbipd: warning: Unknown USB filter 'usbfilter' may be incompatible with this software; 'bind --force' may be required.

Now, to allow WSL accessing the USB run the following command (make sure to have WSL active at this stage, for example by opening a WSL terminal)

usbipd attach --wsl --busid 1-17

Now on WSL, the output of lsusb is:

Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 002 Device 003: ID 8086:0b3a Intel Corp. Intel(R) RealSense(TM) Depth Camera 435i

In order to use the device, it is still necessary to use the realsense udev rules.

Download the file https://github.com/IntelRealSense/librealsense/blob/master/config/99-realsense-libusb.rules.

Then, in WSL, run the following from the folder you downloaded the 99-realsense-libusb.rules files

sudo cp 99-realsense-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules
sudo udevadm trigger

After these steps, I was able to run the yarp-device-realsense2 device installed from conda on WSL.

cc @traversaro @Nicogene @martinaxgloria

[lyysl]

I got the problem in using the camera in ROS2. [realsense2_camera_node-1] [WARN] [1738683235.934907227] [camera.camera]: No RealSense devices were found!. I am using WSL2 Ubuntu 22.04. Is there a solution? Thx.

Or how can I use YARP with ROS2 to use the camera?

[traversaro]

@lyysl did you followed the instructions in the issue? They should apply for any program that uses librealsense2, bet it the YARP or ROS 2 driver.

[Vincent11499]

@S-Dafarra
“I followed the steps above, but I'm still encountering this issue. Have you ever experienced something similar, and if so, how did you resolve it?

17/04 23:42:57,055 INFO [140222318086016] (backend-v4l2.cpp:646) Cannot access /sys/class/video4linux
17/04 23:42:57,503 INFO [140222318086016] (backend-v4l2.cpp:646) Cannot access /sys/class/video4linux

[S-Dafarra]

Hi @Vincent11499, unfortunately no, I haven't tried using realsense-viewer, also because it is not shipped from conda.

If you try running lsusb in WSL, do you see the Realsense listed?

[Vincent11499]

@S-Dafarra
Yes, I ran lsusb in WSL and confirmed that the RealSense device is listed. Are you using a fresh Conda environment and directly calling the RealSense SDK in your code? If so, are you able to successfully connect to and detect the device?

[S-Dafarra]

Are you using a fresh Conda environment and directly calling the RealSense SDK in your code? If so, are you able to successfully connect to and detect the device?

I used the device of this repo. In particular, it connects to the camera using this code:

yarp-device-realsense2/src/devices/realsense2/realsense2Driver.cpp

Lines 530 to 659 in 0ca02fd

	bool realsense2Driver::initializeRealsenseDevice()
	{
	// Check if there are connected cameras
	if (m_ctx.query_devices().size() == 0)
	{
	yCError(REALSENSE2) << "No device connected, please connect a RealSense device";
	return false;
	}
	//Using the device_hub we can block the program until a device connects
	rs2::device_hub device_hub(m_ctx);
	m_device = device_hub.wait_for_device();
	// Get the camera name as the D405 is to be handled differently from the other cameras
	const std::string camera_name = std::string(m_device.get_info(RS2_CAMERA_INFO_NAME));
	const bool is_d405 = (camera_name.find("D405") != std::string::npos);
	// Extract RGB and depth resolution
	double colorW;
	double colorH;
	double depthW;
	double depthH;
	if (is_d405)
	{
	if (!params_map[depthRes].isSetting)
	{
	yCError(REALSENSE2)<<"Missing depthResolution from [SETTINGS]";
	return false;
	}
	// A D405 camera inherits the RGB resolution from the that of the depth sensor
	colorW = depthW = params_map[depthRes].val[0].asFloat64();
	colorH = depthH = params_map[depthRes].val[1].asFloat64();
	}
	else
	{
	if (!params_map[rgbRes].isSetting)
	{
	yCError(REALSENSE2)<<"Missing rgbResolution from [SETTINGS]";
	return false;
	}
	if (!params_map[depthRes].isSetting)
	{
	yCError(REALSENSE2)<<"Missing depthResolution from [SETTINGS]";
	return false;
	}
	colorW = params_map[rgbRes].val[0].asFloat64();
	colorH = params_map[rgbRes].val[1].asFloat64();
	depthW = params_map[depthRes].val[0].asFloat64();
	depthH = params_map[depthRes].val[1].asFloat64();
	}
	m_cfg.enable_stream(RS2_STREAM_COLOR, colorW, colorH, RS2_FORMAT_RGB8, m_fps);
	m_cfg.enable_stream(RS2_STREAM_DEPTH, depthW, depthH, RS2_FORMAT_Z16, m_fps);
	if (m_stereoMode) {
	m_cfg.enable_stream(RS2_STREAM_INFRARED, 1, colorW, colorH, RS2_FORMAT_Y8, m_fps);
	m_cfg.enable_stream(RS2_STREAM_INFRARED, 2, colorW, colorH, RS2_FORMAT_Y8, m_fps);
	}
	if (!pipelineStartup())
	return false;
	m_initialized = true;
	//TODO: if more are connected?!
	// Update the selected device
	m_device = m_profile.get_device();
	if (m_verbose)
	yCInfo(REALSENSE2) << get_device_information(m_device).c_str();
	// Camera warmup - Dropped frames to allow stabilization
	yCInfo(REALSENSE2) << "Sensor warm-up...";
	for (int i = 0; i < 30; i++)
	{
	try
	{
	m_pipeline.wait_for_frames();
	}
	catch (const rs2::error& e)
	{
	yCError(REALSENSE2) << "m_pipeline.wait_for_frames() failed with error:"<< "(" << e.what() << ")";
	m_lastError = e.what();
	}
	}
	yCInfo(REALSENSE2) << "Device ready!";
	// Given a device, we can query its sensors using:
	m_sensors = m_device.query_sensors();
	yCInfo(REALSENSE2) << "Device consists of" << m_sensors.size() << "sensors. More infos using --verbose option";
	if (m_verbose)
	{
	for (const auto & m_sensor : m_sensors)
	{
	print_supported_options(m_sensor);
	}
	}
	if (is_d405)
	{
	// A D405 camera only exposes rs2::depth_sensor depth sensor although it also streams RGB images
	// Hence, we use the pointer to the depth sensor to access the RGB-related options
	for (auto & m_sensor : m_sensors)
	{
	if (m_sensor.is<rs2::depth_sensor>())
	m_depth_sensor = &m_sensor;
	}
	m_color_sensor = m_depth_sensor;
	}
	else
	{
	for (auto & m_sensor : m_sensors)
	{
	if (m_sensor.is<rs2::depth_sensor>())
	m_depth_sensor = &m_sensor;
	else if (m_sensor.get_stream_profiles()[0].stream_type() == RS2_STREAM_COLOR)
	m_color_sensor = &m_sensor;
	}
	}
	// Retrieve depth scaling factor
	if (!getOption(RS2_OPTION_DEPTH_UNITS, m_depth_sensor, m_scale))
	{
	yCError(REALSENSE2) << "Failed to retrieve scale";
	return false;
	}
	// Get stream intrinsics & extrinsics
	updateTransformations();
	return true;
	}

Note that I did not install the realsense SDK from source, but from conda. This is why I don't have the realsense-viewer installed. The only thing I used from the source SDK is the udev rules to access the device.