Jeston ros1 环境下 编译RealSense SDK

硬件：jetson orin nano ，435i
环境 : jetpack 5.1.1 ,ros1

安装librealsense

​ros1 目前最高能用 2.50.0注意版本

weget https://github.com/IntelRealSense/librealsense/archive/refs/tags/v2.50.0.tar.gz
tar -xf v2.50.0.tar.gz
cd librealsense-2.50.0

要刷一下摄像头固件与2.50.0对应，全程不插摄像头

https://dev.intelrealsense.com/docs/firmware-releases

​安装依赖
sudo apt install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev libeigen3-dev 
sudo apt install libglfw3-dev
sudo apt install libudev-dev

注意切换一下python3 版本，如果python3 $(which python3) 如果 conda activate 一下

mkdir build
cd build
cmake .. -DBUILD_EXAMPLES=true -DBUILD_PYTHON_BINDINGS=true -DPYTHON_EXECUTABLE=$(which python3.8) -DCMAKE_BUILD_TYPE=release -DFOR    CE_RSUSB_BACKEND=false -DBUILD_WITH_CUDA=true && make -j$(($(nproc)-1)) && sudo make install

python有时候会安装到python2目录里

 Up-to-date: /usr/local/lib/cmake/realsense2/realsense2Config.cmake
-- Up-to-date: /usr/local/lib/cmake/realsense2/realsense2ConfigVersion.cmake
-- Up-to-date: /usr/local/lib/pkgconfig/realsense2.pc
-- Up-to-date: /usr/local/lib/librealsense-file.a
-- Up-to-date: /usr/lib/python2.7/dist-packages/pyrealsense2/pybackend2.cpython-38-aarch64-linux-gnu.so.2.50.0
-- Up-to-date: /usr/lib/python2.7/dist-packages/pyrealsense2/pybackend2.cpython-38-aarch64-linux-gnu.so.2
-- Up-to-date: /usr/lib/python2.7/dist-packages/pyrealsense2/pybackend2.cpython-38-aarch64-linux-gnu.so
-- Up-to-date: /usr/lib/python2.7/dist-packages/pyrealsense2/pyrealsense2.cpython-38-aarch64-linux-gnu.so.2.50.0
-- Up-to-date: /usr/lib/python2.7/dist-packages/pyrealsense2/pyrealsense2.cpython-38-aarch64-linux-gnu.so.2.50
-- Up-to-date: /usr/lib/python2.7/dist-packages/pyrealsense2/pyrealsense2.cpython-38-aarch64-linux-gnu.so

sudo cp /usr/lib/python2.7/dist-packages/pyrealsense2/  /usr/lib/python3.8/dist-packages/ -r

测试一下python3

lsfoo@orin-nano:/usr/lib/python2.7/dist-packages$ python3
Python 3.8.10 (default, May 26 2023, 14:05:08)
[GCC 9.4.0] on linux
Type "help", "copyright", "credits" or "license" for more information.
>>> import pyrealsense2
>>>

 sudo ./scripts/setup_udev_rules.sh

插上摄像头启动，要求USB3.0以上
这里遇到了一个问题就是jetson orin nano 四个USB口都不好使，折腾了很长时间，换模块，换线，刷机，最后直接用它的type-c口连435iOK了
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realsense-viewer

​# 安装 realsense-ros
版本选择 realsese-ros-2.3.2

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