realsense包catkin build编译失败

现象：catkin build之后显示

[build] Warning: Skipping package `librealsense2` because it has an unsupported package build type: `ament_cmake`
[build] Note: Avalirable build types:
[build] - `catkin`
[build] - `cmake`

实际上，编译的包被跳过了

解决方法：Cannot build realsense-ros package saying "depends on unknown jobs: librealsense2" · Issue #11919 · IntelRealSense/librealsense · GitHub

运行以下代码然后重新编译就行了

$ git checkout `git tag | sort -V | grep -P "^2.\d+\.\d+" | tail -1`
$ cd ..
$ catkin init
$ cd ..
$ catkin clean
$ catkin config --cmake-args -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
$ catkin build

现象：你有可能发现realsense输出的topic没有camera/infra1/等什么话题

解决方法：

运行的代码可以改成

roslaunch realsense2_camera rs_camera.launch enable_infra1:=true enable_infra2:=true