ros noetic 编译realsense2_camera功能包时出错解决办法

ros noetic 编译realsense2_camera功能包时出错：

-- +++ processing catkin package: 'realsense2_camera'
-- ==> add_subdirectory(realsense-ros/realsense2_camera)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
CMake Warning at realsense-ros/realsense2_camera/CMakeLists.txt:44 (find_package):
  By not providing "Findrealsense2.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "realsense2", but CMake did not find one.

  Could not find a package configuration file provided by "realsense2"
  (requested version 2.50.0) with any of the following names:

    realsense2Config.cmake
    realsense2-config.cmake

  Add the installation prefix of "realsense2" to CMAKE_PREFIX_PATH or set
  "realsense2_DIR" to a directory containing one of the above files.  If
  "realsense2" provides a separate development package or SDK, be sure it has
  been installed.

CMake Error at realsense-ros/realsense2_camera/CMakeLists.txt:48 (message):

   Intel RealSense SDK 2.0 is missing, please install it from https://github.com/IntelRealSense/librealsense/releases

分析： 缺少librealsense SDK库和依赖；

更新环境&安装依赖：

sudo apt-get update && sudo apt-get upgrade && sudo apt-get dist-upgrade
sudo apt-get install libssl-dev libusb-1.0-0-dev libudev-dev pkg-config libgtk-3-dev
sudo apt-get install git wget cmake build-essential
sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev at

安装librealsense2：

git clone https://github.com/IntelRealSense/librealsense.git
./scripts/setup_udev_rules.sh
#下面这一步运行后询问是否应用补丁，我选择了否
./scripts/patch-realsense-ubuntu-lts-hwe.sh 

构建librealsense2 SDK：

cd /home/mrips/librealsense  #cd到librealsense目录下
mkdir build && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=/usr/local  #编译到系统目录
make
sudo make install

编译完成后可以在librealsense/build/路径下看到realsense2Config.cmake文件

但是当我们再次编译工作空间下的realsense2_camera功能包时会出现如下error：

CMake Error at /home/mrips/librealsense/build/realsense2Config.cmake:35 (include):
  include could not find load file:
/home/mrips/librealsense/build/realsense2Targets.cmake

CMake Error at /home/mrips/librealsense/build/realsense2Config.cmake:11 (message):
  File or directory usr/local/include referenced by variable
  realsense2_INCLUDE_DIR does not exist !

分析： 这是realsense2Config.cmake文件的配置路径不正确导致的，在realsense2Config.cmake文件中找到下面这两句并修改相应路径 （上面我在编译时将生成的路径改为了/usr/locol，因此这里在这个路径下寻找）：

set_and_check(realsense2_INCLUDE_DIR "/usr/local/include")
include("/usr/local/lib/cmake/realsense2/realsense2Targets.cmake")