ROS使用Realsense D435i小记

基本配置

系统：ubuntu 18.04
ROS：melodic

安装过程

README.md中提供了使用教程，这里主要针对Intel RealSense SDK 2.0的安装。

// 安装Intel RealSense SDK 2.0
sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE

sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic main" -u

sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils
sudo apt-get install librealsense2-dev
sudo apt-get install librealsense2-dbg

//编译realsense-ros
mkdir -p ~/catkin_ws/src/
cd ~/catkin_ws/src/
git clone https://github.com/IntelRealSense/realsense-ros.git
cd ../
catkin_make

//使用测试
roslaunch realsense2_camera rs_camera.launch
rqt_image_view