Realsense D435 Ubuntu16.04 ROS

1、安装 librealsense

sudo apt-key adv --keyserver keys.gnupg.net --recv-key C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver

sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u
 
sudo apt-get update
sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils

拔掉 realsense 相机，下载并编译 librealsense

git clone https://github.com/IntelRealSense/librealsense
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

cd librealsense
sudo ./scripts/setup_udev_rules.sh
sudo udevadm control --reload-rules && udevadm trigger

./scripts/patch-realsense-ubuntu-lts.sh

mkdir build && cd build
cmake ../ -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=true
sudo make uninstall && make clean && make -j8 && sudo make install

2、安装 realsense-ros

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

# 然后进入工作空间编译
catkin_make 

3、测试

realsense_viewer

# 或者
roslaunch realsense2_camera rs_camera.launch