ubuntu18.04在下载编译Realsense-ros遇到的问题

要注意的是，我是用小鱼的一键安装ros安装的ros，链接可以参考我的一篇文章开头有：

ubuntu18.04系统中运行./build_ros.sh的时候遇到报错-CSDN博客

我遇到的问题是csdn上搜不到的问题：

CMake Error at /opt/ros/melodic/share/catkin/cmake/catkin_workspace.cmake:100 (message):
  This workspace contains non-catkin packages in it, and catkin cannot build
  a non-homogeneous workspace without isolation.  Try the
  'catkin_make_isolated' command instead.
Call Stack (most recent call first):
  CMakeLists.txt:69 (catkin_workspace)

-- Configuring incomplete, errors occurred!
See also "/home/chenhaining/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/chenhaining/catkin_ws/build/CMakeFiles/CMakeError.log".
Makefile:423: recipe for target 'cmake_check_build_system' failed
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed

CMake Error at /opt/ros/melodic/share/catkin/cmake/catkin_workspace.cmake:100 (message):
  This workspace contains non-catkin packages in it, and catkin cannot build
  a non-homogeneous workspace without isolation.  Try the
  'catkin_make_isolated' command instead.
Call Stack (most recent call first):
  CMakeLists.txt:69 (catkin_workspace)


-- Configuring incomplete, errors occurred!
See also "/home/chenhaining/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/chenhaining/catkin_ws/build/CMakeFiles/CMakeError.log".
Makefile:423: recipe for target 'cmake_check_build_system' failed
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed

我输入catkin_make_isolated也没用，还是一样的报错。

问题解析：我一键安装安装的ros版本为ros1，不能通过直接git clone的方式进行下载，如下：

git clone https://github.com/IntelRealSense/realsense-ros.git
git clone https://github.com/pal-robotics/ddynamic_reconfigure.git

因为这样的版本适配ros2，我们必须去官网进行源码下载：

官网网址：https://github.com/IntelRealSense/realsense-ros

一定要注意切换版本，如图所示，ros1-legacy版本

然后按照正常程序编译就解决问题了！

题外话：RealSense SDK可以直接通过git clone下载，实测没有问题！