NX+Ubuntu18.04+ROS Realsense(RealSenseD435i )的安装与使用

系统：Ubuntu18.04

硬件核心板：NX

相机：RealSenseD435i 

一、Realsense SDK安装

由于之前尝试了很多版本没有成功，最后根据攻略上指导的版本进行安装

1.1 更新系统

sudo apt-get update
sudo apt-get upgrade
sudo apt-get dist-upgrade

1.2 创建编译空间

sudo mkdir librealsense_install
cd librealsense_install

1.3 下载Realsense SDK

git clone -b v2.31.0 https://github.com/IntelRealSense/librealsense.git

使用命令下载太慢，也可以直接下载，注意在TAG中寻找对应的版本

1.4 安装依赖包（切记一定要拔出相机，不要插相机）

sudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config 
sudo install libgtk-3-dev
sudo apt-get install libglfw3-dev

安装过程中遇到的问题有：

sudo install libgtk-3-dev 不能安装

 1.5 编译

cd librealsense_install/librealsense

mkdir build

cd build 

cmake ..

make -j4

sudo make install 

1.6 测试安装

打开终端，插入相机

realsense-viewer

如果显示的不全，查看USB是否是3.0的接口，如果运行正确的话，出现的画面如图所示：

最新版本的安装方式： 

2.2 源码编译方法
建议核心板使用源码编译的方法

​

 1. 下载source
 

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



2. 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



3. 安装权限脚本

sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && udevadm trigger 



4. 编译安装

mkdir build
cd build
cmake ../ -DBUILD_EXAMPLES=true
make
sudo make install



5. 测试

或直接使用realsense-viewer工具查看效果：

realsense-viewer

卸载
dpkg -l | grep "realsense" | cut -d " " -f 3 | xargs sudo dpkg --purge

二、Realsense ROS 安装

2.1 Realsense ROS编译

1，创建工作空间
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace

2.下载源码【由于版本问题，注意realsense-ros的版本对应】
git clone -b 2.2.11 https://github.com/IntelRealSense/realsense-ros.git
git clone https://github.com/pal-robotics/ddynamic_reconfigure.git

3，编译
cd ~/catkin_ws
catkin_make clean
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
catkin_make install
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

使用上面的命令不能下载，直接使用链接中的包编译，该包已经将后面编译中会出现的错误进行了更正：

NX+Ubuntu18.04+ROSRealsense(RealSenseD435i)的安装与使用-Linux文档类资源-CSDN下载

2.2 编译过程中的问题解决

编译过程中遇到的问题：

2.2.1  Project 'cv_bridge' specifies

CMake Error at /opt/ros/melodic/share/cv_bridge/cmake/cv_bridgeConfig.cmake:113 (message):
  Project 'cv_bridge' specifies '/usr/include/opencv' as an include dir,
  which is not found.  It does neither exist as an absolute directory nor in
  '${{prefix}}//usr/include/opencv'.  Check the issue tracker

 解决方法：

参考下面博文：

ROSERROR : CMake Error at /opt/ros/melodic/share/cv_bridge/cmake/cv_bridgeConfig.cmake:113 (message)_笨蛋小豬的博客-CSDN博客

就是找到你自己在nx上安装的OPENCV的路径，然后将 /opt/ros/melodic/share/cv_bridge/cmake/cv_bridgeConfig.cmake下的cv_bridgeConfig.cmake的opencv路径更改为你自己安装的位置

1、根据这个报错的提示，可以看出是: “cv_bridge” 的路径问题；
2、找到cv_bridgeConfig.cmke文件，打开

选中的就是需要修改的路径；
3、在文件里面搜索**opencv,**路径如下图：

4、将2中需要修改的路径修改为3中查到的路径。

2.2.2 error  find_if

 解决方法：

 2.3 编译成功后话题的显示内容

编译成功后执行：

roslaunch realsense2_camera rs_camera.launch
rostopic list

/camera/accel/imu_info
/camera/accel/sample
/camera/color/camera_info
/camera/color/image_raw
/camera/color/image_raw/compressed
/camera/color/image_raw/compressed/parameter_descriptions
/camera/color/image_raw/compressed/parameter_updates
/camera/color/image_raw/compressedDepth
/camera/color/image_raw/compressedDepth/parameter_descriptions
/camera/color/image_raw/compressedDepth/parameter_updates
/camera/color/image_raw/theora
/camera/color/image_raw/theora/parameter_descriptions
/camera/color/image_raw/theora/parameter_updates
/camera/depth/camera_info
/camera/depth/image_rect_raw
/camera/depth/image_rect_raw/compressed
/camera/depth/image_rect_raw/compressed/parameter_descriptions
/camera/depth/image_rect_raw/compressed/parameter_updates
/camera/depth/image_rect_raw/compressedDepth
/camera/depth/image_rect_raw/compressedDepth/parameter_descriptions
/camera/depth/image_rect_raw/compressedDepth/parameter_updates
/camera/depth/image_rect_raw/theora
/camera/depth/image_rect_raw/theora/parameter_descriptions
/camera/depth/image_rect_raw/theora/parameter_updates
/camera/extrinsics/depth_to_color
/camera/extrinsics/depth_to_infra1
/camera/extrinsics/depth_to_infra2
/camera/infra1/camera_info
/camera/infra1/image_rect_raw
/camera/infra1/image_rect_raw/compressed
/camera/infra1/image_rect_raw/compressed/parameter_descriptions
/camera/infra1/image_rect_raw/compressed/parameter_updates
/camera/infra1/image_rect_raw/compressedDepth
/camera/infra1/image_rect_raw/compressedDepth/parameter_descriptions
/camera/infra1/image_rect_raw/compressedDepth/parameter_updates
/camera/infra1/image_rect_raw/theora
/camera/infra1/image_rect_raw/theora/parameter_descriptions
/camera/infra1/image_rect_raw/theora/parameter_updates
/camera/infra2/camera_info
/camera/infra2/image_rect_raw
/camera/infra2/image_rect_raw/compressed
/camera/infra2/image_rect_raw/compressed/parameter_descriptions
/camera/infra2/image_rect_raw/compressed/parameter_updates
/camera/infra2/image_rect_raw/compressedDepth
/camera/infra2/image_rect_raw/compressedDepth/parameter_descriptions
/camera/infra2/image_rect_raw/compressedDepth/parameter_updates
/camera/infra2/image_rect_raw/theora
/camera/infra2/image_rect_raw/theora/parameter_descriptions
/camera/infra2/image_rect_raw/theora/parameter_updates
/camera/motion_module/parameter_descriptions
/camera/motion_module/parameter_updates
/camera/realsense2_camera_manager/bond
/camera/rgb_camera/auto_exposure_roi/parameter_descriptions
/camera/rgb_camera/auto_exposure_roi/parameter_updates
/camera/rgb_camera/parameter_descriptions
/camera/rgb_camera/parameter_updates
/camera/stereo_module/auto_exposure_roi/parameter_descriptions
/camera/stereo_module/auto_exposure_roi/parameter_updates
/camera/stereo_module/parameter_descriptions
/camera/stereo_module/parameter_updates
/diagnostics
/rosout
/rosout_agg
/tf
/tf_static

 查看相关话题的内容

$ rostopic echo /camera/accel/sample # Blank

$ rostopic echo /camera/gyro/sample # Blank

$ rostopic echo /camera/accel/imu_info
frame_id: "camera_accel_optical_frame"
data: [1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0]
noise_variances: [0.0, 0.0, 0.0]
bias_variances: [0.0, 0.0, 0.0]
---

$ rostopic echo /camera/gyro/imu_info
frame_id: "camera_gyro_optical_frame"
data: [1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0]
noise_variances: [0.0, 0.0, 0.0]
bias_variances: [0.0, 0.0, 0.0]