#!/bin/sh -e
#
# rc.local
#
# This script is executed at the end of each multiuser runlevel.
# Make sure that the script will "exit 0" on success or any other
# value on error.
#
# In order to enable or disable this script just change the execution
# bits.
#
# By default this script does nothing.:
/bin/bash /usr/local/XX-Net-3.10.4/xx_net.sh 1>> /etc/mylog   # send stderr from rc.local to a log file 
2>&1   # send stdout to the same log file 
set -x    # tell sh to display commands before execution 
sudo miredo
sudo /usr/local/XX-Net-3.10.4/xx_net.sh start
exit 0

#!/bin/bash
# command content

exit 0

sudo chmod 755 new_service.sh
#或者
sudo chmod +x new_service.sh

sudo mv new_service.sh /etc/init.d/

cd /etc/init.d/
sudo update-rc.d new_service.sh defaults 90

sudo update-rc.d -f new_service.sh remove

sudo sysv-rc-conf 

update-rc.d [-n] [-f] <basename> remove
update-rc.d [-n] <basename> defaults
update-rc.d [-n] <basename> disable|enable [S|2|3|4|5]
update-rc.d <basename> start|stop <NN> <runlevels>

update-rc.d sample_init_script defaults
上一条命令等效于（中间是一个英文句点符号）：
update-rc.d sample_init_script start 20 2 3 4 5 . stop 20 0 1 6

update-rc.d sample_init_script defaults 50

update-rc.d A 10 40
update-rc.d B 20 30

update-rc.d -f sample_init_script remove

update-rc.d -f apache2 remove
update-rc.d -f mysql remove

sudo service xxx status
sudo service xxx start
sudo service xxx stop
sudo service xxx restart

sudo service --status-all

echo "net.core.default_qdisc=fq" >> /etc/sysctl.conf
echo "net.ipv4.tcp_congestion_control=bbr" >> /etc/sysctl.conf

sysctl -p

sysctl net.ipv4.tcp_available_congestion_control

lsmod | grep bbr

uname -r

vi /etc/sysctl.conf

:wq

sysctl -p

reboot

sysctl net.ipv4.tcp_available_congestion_control

sudo apt-get update

sudo apt-get install libusb-dev libusb-1.0-0-dev libglfw3 libglfw3-dev freeglut3 freeglut3-dev

sudo apt-get install libpng12-dev

wget -q -O /tmp/libpng12.deb http://security.ubuntu.com/ubuntu/pool/main/libp/libpng/libpng12-0_1.2.54-1ubuntu1.1_amd64.deb

sudo dpkg -i /tmp/libpng12.deb

• 1
• 2
• 3

2. Debian Package Installation

2.1 Add Intel server to the list of repositories :

echo 'deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main' | sudo tee /etc/apt/sources.list.d/realsense-public.list
1

It is recommended to backup /etc/apt/sources.list.d/realsense-public.list file in case of an upgrade.

2.2 Register the server’s public key :

sudo apt-key adv --keyserver keys.gnupg.net --recv-key 6F3EFCDE
sudo apt-key adv --keyserver keys.gnupg.net --recv-key C8B3A55A6F3EFCDE || sudo apt-key adv -- keyserver hkp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCDE
1
2

Refresh the list of repositories and packages available :

sudo apt-get update
1

2.3 Install the librscalibrationtool package which includes Intel® RealSense™ Dynamic Calibrator:

sudo apt-get install librscalibrationtool
1

说明:

librscalibrationtool适用设备为 Intel RealSense D400, D410, D415, D420, D430, D435.
安装后的使用说明见: /usr/share/doc/librscalibrationtool/README.md

2.4 Failure – (Optional) Developers shall also install librscalibrationapi package:

sudo apt-get install librscalibrationapi
1

Problem:

librscalibrationapi : Depends: libpng12-dev but it is not installable
分析: 自Ubuntu18.04以后，libpng12-dev已经被弃用

3. Checking Package Installation

After the debian package install finishes, check for files installed. Under debian convention, the executables are installed under /usr/bin, library files under /usr/lib, and other files including sample code under /usr/share/doc.
For example, for Calibration Tool, librscalibrationtool, the files are installed as below:

sudo dpkg -L librscalibrationtool
1

4. Video4Linux backend

1. In order to run demos install:

sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils
1
2

The above two lines will deploy librealsense2 udev rules, kernel drivers, runtime library and executable demos and tools.
Reconnect the Intel RealSense depth camera and run: realsense-viewer

2. Developers shall install additional packages:

sudo apt-get install librealsense2-dev
sudo apt-get install librealsense2-dbg
1
2

With dev package installed, you can compile an application with librealsense using g++ -std=c++11 filename.cpp -lrealsense2 or an IDE of your choice.

3. Verify that the kernel is updated :

modinfo uvcvideo | grep "version:" 
1

should include realsense string

5. Test Installation

1. Print the tool version to screen:

/usr/bin/Intel.Realsense.DynamicCalibrator -v
1

2. To print device information to screen, connect a camera device to the system and execute the following command:

/usr/bin/Intel.Realsense.DynamicCalibrator -list
1

6. Perform Calibration for Camera

/usr/bin/Intel.Realsense.DynamicCalibrator
1

* Problem (not fixed):

I can see the RGB, Depth and Gyro information without problems when I run realsense-vieweror subscribe to the realsense-ros topics. But when I run/usr/bin/Intel.Realsense.DynamicCalibrator
And click on Start Calibration I get the Failed to start Calibration Error as seen:

PS: relative issue discussion on github:
https://github.com/IntelRealSense/librealsense/issues/3990

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