Ubuntu20.04及ROS1安装realsenseD435驱动

一、安装RealsenseSDK

1.下载

git clone https://github.com/IntelRealSense/librealsense

2.安装依赖

   sudo apt-get install libudev-dev pkg-config libgtk-3-dev
   sudo apt-get install libusb-1.0-0-dev pkg-config
   sudo apt-get install libglfw3-dev
   sudo apt-get install libssl-dev

3.安装权限脚本

cd librealsense
sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && udevadm trigger

4.编译与安装

mkdir build
cd build
cmake ../ -DBUILD_EXAMPLES=true
make
sudo make install

5.测试

realsense-viewer

二、安装Realsense-ros

1.创建工作空间

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

2.下载

git clone https://github.com/IntelRealSense/realsense-ros.git -b ros1-legacy
cd realsense-ros/
git checkout `git tag | sort -V | grep -P "^2.\d+\.\d+" | tail -1`
cd ..
git clone https://github.com/pal-robotics/ddynamic_reconfigure.git

3.编译

cd ~/catkin_ws && catkin_make

4.测试

roslaunch realsense2_camera rs_camera.launch