Jetson Xavier NX/AGX快速安装Intel Realsense SDK并使用D455
环境搭建及测试
1. 安装脚本下载:
github链接:
https://github.com/jetsonhacks/installRealSenseSDK
百度网盘链接:
链接:https://pan.baidu.com/s/1V8oIs5HFEGcC_sChB_s_Zg
提取码:1636
2. 安装步骤
进入installRealSenseSDK文件夹,执行下列指令:
sudo ./installLibrealsense.sh
紧接着安装ROS相关的驱动包(以"melodic"版本为例):
sudo apt-get install ros-melodic-librealsense*
下载并编译ROS功能包:
从官网下载源码,放到工作空间进行编译:
https://github.com/IntelRealSense/realsense-ros
或从下列分享连接中自取:
链接:https://pan.baidu.com/s/1WsqtfbyfzsEJyiwMDtsBWA
提取码:aoip
测试效果一
编译完成后,可到realsense2_camera/launch/下查看所有启动文件,然后
source ~/your_ws/devel/setup.bash
roslaunch realsense2_camera rs_camera.launch
打开另一个终端,输入rviz,Fixed Frame可以选择camera_link,添加Image模块选择一个图像topic
测试效果二
realsense-viewer可视化
realsense-viewer
参考文献:
[1]: https://www.jianshu.com/p/05db8c3eedee
[2]:https://github.com/IntelRealSense/realsense-ros
[3]:https://github.com/jetsonhacks/installRealSenseSDK