ubuntu 16.04安装librealsense 2.45.0

先决条件

参考官方文档：

https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md

librealsense supported kernel version (4.[4,8,10,13,15,16]]) 

编译librealsense源码，需要gcc-5

sudo add-apt-repository ppa:ubuntu-toolchain-r/test
sudo apt-get update
sudo apt-get install gcc-5 g++-5
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-5 60 --slave /usr/bin/g++ g++ /usr/bin/g++-5
sudo update-alternatives --set gcc "/usr/bin/gcc-5"

下载librealsense源码

https://github.com/IntelRealSense/librealsense.git -b v2.45.0

mkdir build && cd build

编译安装
ubuntu安装realsense SDK经常会出现NO device detected这样的问题，在cmake的时候加入-DFORCE_RSUSB_BACKEND=ON可以解决。

cmake -DCMAKE_BUILD_TYPE=release ..
make -j4
sudo make install

Error:

描述：
Description: RealSense UDEV-Rules file:
/lib/udev/rules.d/60-librealsense2-udev-rules.rules
is not up-to date!
UDEV-Rules permissions configuration
for RealSense devices.
解决办法：

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

realsense ros安装后

error：
when I use "roslaunch realsense2_camera rs_rgbd.launch
" ;then:Resource not found: rgbd_launch
ROS path [0]=/opt/ros/melodic/share/ros
ROS path [1]=/home/gipsy/catkin_ws/src
ROS path [2]=/opt/ros/melodic/share
The traceback for the exception was written to the log file

My Ubuntu18.04 ROS melodic

安装：

sudo apt-get install ros-melodic-rgbd-launch