基于ROS的Intel RealSense安装(官网链接:https://github.com/intel-ros/realsense)
1.创建工作区:
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src/
2.下载源程序到src:
git clone https://github.com/intel-ros/realsense.git
3.编译:
catkin_init_workspace
cd ..
catkin_make clean
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
catkin_make install
4.创建环境变量:
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
5.启动相机节点:
roslaunch realsense2_camera rs_camera.launch
6.开启新的一个终端启动rviz:
rosrun rviz rviz
附:rviz安装
1.安装:
sudo apt-get install ros-kinetic-rviz
rosdep install rviz
rosmake rviz
2.运行:
2.1打开一个终端:roscore
2.2打开一个新的终端:rosrun rviz rviz