安装Realsense SDK:
1.下载source并且确定git版本:
1. git clone https://github.com/IntelRealSense/librealsense(下载源)
2. cd librealsense
3. git tag(查看git的所有版本)
4. git status(查看当前版本)
5. git checkout -b v2.40.0(切换到新分支 v2.40.0)
6. git status(确认当前版本)
2.安装依赖项:
1. sudo apt-get install libudev-dev pkg-config libgtk-3-dev
2. sudo apt-get install libusb-1.0-0-dev pkg-config
3. sudo apt-get install libglfw3-dev
4. sudo apt-get install libssl-dev
3.Install Intel Realsense permission scripts located in librealsense source directory:
1. sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
2. sudo udevadm control --reload-rules && udevadm trigger
4.将连接的realsense相机拔掉,Build and apply patched kernel modules for:
根据不同的ubuntu版本安装:对于Ubuntu 14/16/18 LTS:(该过程中需要下载很多项建议科学上网)
1. ./scripts/patch-realsense-ubuntu-lts.sh (该步会很耗时,可以趁机去喝个咖啡或者干点别的)
2. sudo dmesg | tail -n 50
5基于CMAKE编译:
1. mkdir build
2. cd build
3. cmake ../ -DBUILD_EXAMPLES=true
4. make
5. sudo make install
6. 进入/librealsense/build/examples/capture,试一下效果
./rs-capture
Realsense Wrapper安装:
Ros Wrapper版本需要与SDK版本对应,在下载页面会有标注:
https://github.com/IntelRealSense/realsense-ros/releases/tag/3.1.2
mkdir -p ~/realsense_ros_ws/src
cd ~/realsense_ros_ws/src
catkin_inti_workspace
cd ..
catkin_make
echo "source ~/realsense_ros_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
进入realsense_ws/src/下载源程序:
cd src
git clone https://github.com/intel-ros/realsense.git
将其版本设定为对应版本:
1. cd reaslsense
2. git tag(查看git的所有版本)
3. git status(查看当前版本)
4. git checkout -b v3.1.2(切换到新分支 v3.1.2)
5. git status(确认当前版本)
catkin_make
cd ..
catkin_make
启动相机节点:
roslaunch realsense2_camera rs_camera.launch
检查发布的topic
rostopic list
参考:
https://blog.csdn.net/Night___Raid/article/details/106122412?spm=1001.2014.3001.5501