安装环境
系统:ubuntu 18.04 内核 4.118-generic
ROS: melodic
传感器:intel realsense d435i
环境上已经成功搭建并使用ROS完成demo
安装Realsense SDK
github:https://github.com/IntelRealSense/librealsense
安装可以参考文档:https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md
- 下载source
git clone https://github.com/IntelRealSense/librealsense
cd librealsense
- 安装依赖项
sudo apt-get install libudev-dev pkg-config libgtk-3-dev
sudo apt-get install libusb-1.0-0-dev pkg-config
sudo apt-get install libglfw3-dev
sudo apt-get install libssl-dev
- Install Intel Realsense permission scripts located in librealsense source directory:
sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && udevadm trigger
- 重点 : 我发现如果和官网一样运行
patch-realsense-ubuntu-lts.sh
编译内核,好像会报错, 但是直接忽略掉并不会有什么影响,所以直接运行编译
mkdir build
cd build
cmake ../ -DBUILD_EXAMPLES=true
make
sudo make install
- 进入/librealsense/build/examples/capture,试一下效果
./rs-capture
安装realsense-ros
不要不要不要安装intel-ros上的,intel-ros上缺少DDynamic_reconfigure
(被intel悄咪咪删掉了)
详情 : https://github.com/ros/rosdistro/pull/20651 和 https://github.com/IntelRealSense/realsense-ros/pull/665
- 直接下载 https://github.com/IntelRealSense/realsense-ros.git
- 下载缺少包 https://github.com/pal-robotics/ddynamic_reconfigure
- 直接运行
catkin_make
,绝对成功!