Ubuntu18.04下安装RealSense D435i相机的SDK和ROS包

1. 安装Intel RealSense SDK 2.0

参看：https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md

安装步骤：

(1) 注册服务器公钥

sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE

(2) 添加服务器到本机repository

sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic main" -u

(3) 安装库文件

sudo apt-get install librealsense2-dkms

sudo apt-get install librealsense2-utils

(4) 安装developer和debug的包（Optional but Recommended）

sudo apt-get install librealsense2-dev

sudo apt-get install librealsense2-dbg

安装完成后，连接相机到计算机，运行如下命令将打开SDK：

realsense-viewer

效果如下：

2. 安装ROS Wrapper

方法一：从源码安装

源码下载地址：https://github.com/IntelRealSense/realsense-ros/releases

安装方法：参考下载文件夹内的README文件，或

https://github.com/IntelRealSense/realsense-ros#rgbd-point-cloud

方法二：直接用apt安装

sudo apt install ros-melodic-realsense2-camera

sudo apt install ros-melodic-realsense2-description

安装完成后，运行如下命令可以启动相机节点：

(1) 发布图片

roslaunch realsense2_camera rs_camera.launch

(2) 发布点云

roslaunch realsense2_camera rs_camera.launch filters:=pointcloud

(3) 发布彩色深度图

roslaunch realsense2_camera rs_camera.launch filters:=colorizer

效果如下：