在Ubuntu 16.04下通过ROS使用 realsense D435i 获取点云数据

一、驱动安装

librealsense安装

librealsnese的安装网址

我是通过指令安装的，总的来说就是一下步骤：

• Register the server's public key:

  sudo apt-key adv --keyserver keys.gnupg.net --recv-key C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCDE

  
  In case the public key still cannot be retrieved, check and specify proxy settings: export http_proxy="http://<proxy>:<port>"
  , and rerun the command. See additional methods in the following link.

• Add the server to the list of repositories:
  Ubuntu 16 LTS:

  sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u

   

• Install the libraries (see section below if upgrading packages):

  sudo apt-get install librealsense2-dkms
  sudo apt-get install librealsense2-utils

   

• Optionally install the developer and debug packages:

  sudo apt-get install librealsense2-dev

   

Reconnect the Intel RealSense depth camera and run: realsense-viewer to verify the installation.

Verify that the kernel is updated :
modinfo uvcvideo | grep "version:" should include realsense string

realsense-ros的安装

realsense-ros的安装网址

• Create a catkin workspace

• mkdir -p ~/catkin_ws/src
  cd ~/catkin_ws/src/

   

• Clone the latest Intel® RealSense™ ROS from here into 'catkin_ws/src/'

git clone https://github.com/IntelRealSense/realsense-ros.git
cd realsense-ros/
git checkout `git tag | sort -V | grep -P "^\d+\.\d+\.\d+" | tail -1`
cd ..

• Make sure all dependent packages are installed. You can check .travis.yml file for reference.
• Specifically, make sure that the ros package ddynamic_reconfigure is installed. If ddynamic_reconfigure cannot be installed using APT, you may clone it into your workspace 'catkin_ws/src/' from here (Version 0.2.0)

catkin_init_workspace
cd ..
catkin_make clean
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
catkin_make install
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

二、显示点云

1、安装rgbd_launch 

cd ~/catkin_ws/src/
git clone https://github.com/ros-drivers/rgbd_launch.git
cd ..
catkin_make

2、修改launch文件

将rs_rgbd.launch和rs_camera.launch文件中的<arg name="enable_pointcloud" default="true"/>由false改为true

3、运行RGBD

roslaunch realsense2_camera rs_rgbd.launch

 三、遇到的问题

1、realsense-ros的安装需要librealsense2-dev的依赖，虽然是说是可选，但是不安装的话，realsense-ros会报错找不到librealsense的依赖

2、librealsense安装的时候可能会报错，找不到ddynamic_reconfigure。

在GitHub中找到源码，克隆到工作空间的 src 文件夹下，就可以了。