ubuntu16.04+ros-kinetic+intel realsense D435i

安装Realsense SDK
1…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
2…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.输入realsense-viewer可查看
realsense安装
1.网上经验帖说装realsense需要先将cmake更新到3.6以上版本，
首先，用 cmake –version 查看了自己版本是3.5.1（勉为其难的更新一下吧）
更新方法：wget https://cmake.org/files/v3.9/cmake-3.9.3.tar.gz
tar zxvf cmake-3.9.2.tar.gz
cd cmake-3.9.2
./configure
make
sudo make install
注：有些经验帖说得卸载原先版本，亲测不用卸载直接安装新版本就行，而且卸载命令：sudo apt-get autoremove cmake需慎用！
2.查看内核版本：uname -r,如果version>=4.4.0-50则不需要更新
3.安装依赖：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
4.下载realsense库并进行解压：git clone https://github.com/IntelRealSense/librealsense.git
5. cd librealsense
mkdir build
cd build
cmake …
cmake …/ -DBUILD_EXAMPLES=true
sudo make install
6.安装videoLinux视频内核驱动：
cd …/
sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && udevadm trigger
sudo apt-get install libssl-dev
7.安装openssl库：sudo apt-get install libssl-dev
8.编译配置文件： ./scripts/patch-realsense-ubuntu-xenial-joule.sh
接着，在询问（等待键盘输入）的时候，选择y（会询问非常多次），只有中间一部分只有m/n选项的直接安enter键
9.检查安装驱动是否成功： sudo dmesg | tail -n 50
10.插上摄像头，例程测试：
cd librealsense/build/examples
cd capture
./rs-capture
安装realsense-ros

1.创建ros工作空间

mkdir -p ~/realsense_ws/src
2.克隆包
cd ~/realsense_ws/src
git clone -b 2.2.7 https://github.com/IntelRealSense/realsense-ros.git
3.打开新终端
sudo apt-get install ros-kinetic-ddynamic-reconfigure
4.编译
cd ~/realsense_ws
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
catkin_make install
5.测试
roslaunch realsense2_camera rs_camera.launch
rostopic list
rviz