D435i realsense 安装

安装环境

系统：ubuntu 16.04
ROS： Kinetic
传感器：intel realsense d435i

安装Realsense SDK

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
       sudo apt-get install libgl1-mesa-dev libglu1-mesa-dev
   

3. 安装
   3.1 方式一 —— 直接安装官方已经编译好的包：

   	sudo apt-key adv --keyserver keys.gnupg.net --recv-key C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver kp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCDE
       sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u
       sudo apt install librealsense2-dkms
       sudo apt install librealsense2-utils
       sudo apt install librealsense2-dev
       sudo apt install librealsense2-dbg
   

   3.2 方式二 —— 下载源代码自行编译安装

       sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
       sudo udevadm control --reload-rules && udevadm trigger 
      注意把realsense拔下来,然后运行:    
       ./scripts/patch-realsense-ubuntu-lts.sh
       sudo dmesg | tail -n 50
       cmake编译
       mkdir build
   	cd build
   	cmake ../ -DBUILD_EXAMPLES=true
   	make
   	sudo make install
   

4. 测试

       cd  /librealsense/build/examples/capture
       ./rs-capture 
   

在ROS中编译

	    mkdir -p ~/catkin_ws/src
	    cd ~/catkin_ws/src/
	    catkin_init_workspace 
	    cd ..
	    catkin_make
	    cd src
	    git clone https://github.com/IntelRealSense/realsense-ros.git
	    cd ..
	    catkin_make

启动相机节点：

	    roslaunch realsense2_camera rs_rgbd.launch

参看链接：

	     https://blog.csdn.net/qq_41839222/article/details/86503113
	     https://blog.csdn.net/jiangchuanhu/article/details/92795791