参考官网: https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md
https://github.com/IntelRealSense/realsense-ros
首先更新一下资源
sudo apt-get update && sudo apt-get upgrade && sudo apt-get dist-upgrade
sudo apt-get install --install-recommends linux-generic-lts-xenial xserver-xorg-core-lts-xenial xserver-xorg-lts-xenial xserver-xorg-video-all-lts-xenial xserver-xorg-input-all-lts-xenial libwayland-egl1-mesa-lts-xenial
sudo update-grub && sudo reboot
安装依赖
sudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
设置安装的密钥
sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
获取资源
sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u
安装驱动包和依赖
sudo apt-get install librealsense2-dev
sudo apt-get install librealsense2-dbg
更新文件
sudo apt-get update
升级
sudo apt-get upgrade
打开操作界面查看安装是否成功,效果如下,(这个是盗来的图,我自己没有截图)
realsense-viewer
,进入自己的工作空间下载与ROS相关的驱动
git clone https://github.com/IntelRealSense/realsense-ros.git
进入下载的文件夹
cd realsense-ros/
选择分支并打标签,排序之后选择最后一条文本
git checkout `git tag | sort -V | grep -P "^\d+\.+\.\d+" | tail -1`
cd ..
编译,生成install文件夹
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
catkin_make install
跑个demo看看
roslaunch realsense2_camera demo_pointcloud.launch