RK3588安装Realsense运行D435、D435i深度相机

RK3588安装Realsense运行D435、D435i深度相机

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DeviceInfo
Camera Model	{ D435 }
Operating System & Version	Ubuntu 20.04
Kernel Version (Linux Only)	5.10.110
Platform	ROC-RK3588S-PC
Intel® RealSense™ SDK 2.0	v2.50.0
RealSense ROS	v2.3.2

前言

有关于ROS安装内容请查看此链接:
https://blog.csdn.net/KIDfengKID/article/details/130773412

一、Intel® RealSense™ SDK 2.0安装

这里可以参考官方的安装教程
https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md
https://github.com/IntelRealSense/librealsense/blob/master/doc/installation_jetson.md

• git源码，安装依赖并编译

  # 下载源码
  git clone -b v2.25.0 https://github.com/IntelRealSense/librealsense.git
  # 进入源码目录
  cd librealsense
  # 安装依赖
  sudo apt-get update && sudo apt-get upgrade && sudo apt-get dist-upgrade
  sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev at
  # 从libalsense根目录运行Intel Realsense权限脚本
  ./scripts/setup_udev_rules.sh
  # 编译安装
  mkdir build && cd build
  cmake ../ -DBUILD_EXAMPLES=true -DFORCE_RSUSB_BACKEND=true -DCMAKE_BUILD_TYPE=release -DBUILD_GRAPHICAL_EXAMPLES=FALSE
  # 内存大运行这个
  sudo make uninstall && make clean && make -j8 && sudo make install
  # 内存小运行这个
  sudo make uninstall && make clean && make && sudo make install
  

• 验证安装是否成功

  cd ~/librealsense/build/examples/C/depth/
  ./rs-depth
  

二、RealSense™ROS安装

同样可以参考官方安装教程
https://github.com/IntelRealSense/realsense-ros/tree/ros1-legacy

• 下载源码并编译
  • mkdir -p ~/catkin_ws/src
  • cd ~/catkin_ws/src/
  • git clone -b 2.3.2 https://github.com/IntelRealSense/realsense-ros.git
  • cd realsense-ros/
  • git checkout `git tag | sort -V | grep -P "^2.\d+\.\d+" | tail -1`
  • cd ..
• 编译

  catkin_init_workspace
  cd ..
  catkin_make clean
  catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
  catkin_make install
  

• source工作空间
  • echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
  • source ~/.bashrc
• 最后用roslaunch realsense2_camera rs_camera.launch进行测试，Rviz显示发布的image topic。
  

三、报错解决

缺少依赖，安装缺少的包：
sudo apt install ros-noetic-ddynamic-reconfigure

参考链接：
https://github.com/IntelRealSense/librealsense/issues/11050
https://github.com/IntelRealSense/librealsense/issues/11807