运行Intel realsense L515相机
首先去官: https://www.intelrealsense.com/sdk-2/,按照上面的提示安装各种文件,然后输入realsense-viewer出现可视化窗口。
下面进行ros演示:
按照github上的步骤编译realsense-ros。
链接: https://github.com/IntelRealSense/realsense-ros.
如编译的过程中遇到了问题如下:
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
Could not find a package configuration file provided by
"ddynamic_reconfigure" with any of the following names:
ddynamic_reconfigureConfig.cmake
ddynamic_reconfigure-config.cmake
解决办法如下:
cd ~/catkin_ws/src
git clone https://github.com/pal-robotics/ddynamic_reconfigure.git
然后再回去编译。
接着就是:
source devel/setup.bash
运行roslaunch realsense2_camera rs_camera.launch。
查看话题rostopic list。
可视化运行rviz。
将话题里可以运行的在rviz里进行Add,如深度图。
运行结果如下: