1. 安装Realsense SDK
(1)下载资源librealsense,从github下载source
git clone https://github.com/IntelRealSense/librealsense
cd librealsense
(2)安装依赖项分别执行
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)编译librealsense
mkdir build
cd build
cmake ../ -DBUILD_EXAMPLES=true
make
sudo make install
(4)进入/librealsense/build/examples/capture,在此位置下打开终端执行./rs-capture
2. 安装 ROS Wrapper
(1)建立workspace
mkdir -p ~/realsense_ws/src
cd ~/realsense_ws/src/
catkin_init_workspace
cd ..
catkin_make
echo "source ~/realsense_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
(2)下载ddynamic_reconfigure与realsense-ros