ROS melodic 环境下Realsense D435的配置

 一、安装RealSense的SDK2.0安装

1、注册服务器的公钥

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

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

2、将服务器添加到存储库列表中

sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u

3、安装SDK

sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils
sudo apt-get install librealsense2-dev
sudo apt-get install librealsense2-dbg

4、连接相机执行下列命令检测安装效果，使用USB3.0相连，否则USB3.0口可能会出问题

realsense-viewer 

5、结果如下图所示

  二、安装ROS

1、创建ROS工作空间

mkdir -p realsense435_ws/src
cd realsense435_ws/src
catkin_init_workspace

2、下载realsense-ros安装包和ddynamic_reconfigure包，若无法下载可自行搜索尝试其他链接

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

3、对下载的包进行编译

cd ~/realsense_ws  
catkin_make

编译时有时会报以下错误：

-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 4 packages in topological order:
-- ~~  - ddynamic_reconfigure
-- ~~  - realsense2_camera_msgs (plain cmake)
-- ~~  - realsense2_description (plain cmake)
-- ~~  - realsense2_camera (plain cmake)
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
CMake Error at /opt/ros/melodic/share/catkin/cmake/catkin_workspace.cmake:100 (message):
  This workspace contains non-catkin packages in it, and catkin cannot build
  a non-homogeneous workspace without isolation.  Try the
  'catkin_make_isolated' command instead.
Call Stack (most recent call first):
  CMakeLists.txt:69 (catkin_workspace)

解决方案：

进入realsense-ros文件夹,执行以下操作完成编译

cd ~/realsense435_ws/src/realsense-ros/      
git checkout `git tag | sort -V | grep -P "^2.\d+\.\d+" | tail -1`
cd ~/realsense435_ws
catkin_make clean            
catkin_make                   

 

三、测试

1、安装完成后进入工作空间执行以下操作进行验证

cd realsense435_ws
source devel/setup.bash
roslaunch realsense2_camera demo_pointcloud.launch #点云

效果如下图所示：

2、启动各个节点，执行不同launch文件，启动的节点会有所不同

roslaunch realsense2_camera rs_camera.launch
roslaunch realsense2_camera rs_rgbd.launch   # /camera/depth_registered/points

 如下图，节点启动成功

 四、相关参考链接

1、Ubuntu20.04LTS下安装Intel Realsense D435i驱动与ROS包_ubuntu20 安装realsense_wanghq2013的博客-CSDN博客

2、Ubuntu18.04+ROS melodic +RealSense D435i的使用_ros-melodic-rgbd-launch_YOULANSHENGMENG的博客-CSDN博客

 3、ROS中使用RealSense-D435_于小猿Sup的博客-CSDN博客

4、ROS编译D435i过程中的问题及解决_Nico_J ??的博客-CSDN博客