ROS 18.04 + DepthCamera D455 问题汇总

ROS 18.04 + DepthCamera D455 问题汇总

sudo apt-key adv --keyserver keys.gnupg.net --recv-key C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver 
sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u
sudo apt-get update
sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils
sudo apt-get install librealsense2-dev
mkdir -p ~/RealSense/src
cd ~/RealSense/src
git clone https://github.com/intel-ros/realsense.git 
git clone https://github.com/pal-robotics/ddynamic_reconfigure.git
cd ~/RealSense
catkin_make
source devel/setup.bash
roslaunch realsense2_camera rs_rgbd.launch

问题1.

报错如下

ResourceNotFound: rgbd_launch
解决方案：

sudo apt-get install ros-melodic-rgbd-launch

解决后：

问题2

原因。。。比较傻

1. USB口如果有3.0限制，要连对
2. 我这个是在虚拟机上跑的，我忘了选择设备连接虚拟机了，导致搜索不到设备

2D

3D

问题3.

fatal: unable to access XXX
解决方法
将https改成git

git clone git://github.com/intel-ros/realsense.git

问题4.

roslaunch realsense2_camera rs_camera.launch filters:=pointcloud

报错
failed to claim usb interface: 0, error: RS2_USB_STATUS_BUSY
解决方法：

roslaunch realsense2_camera rs_camera.launch

打开rviz，Global Option- >Fixed Frame后面下拉框选择camera_link
Add添加camera，Depthcloud等，然后再对应的列表里选Topic