ROS环境下的realsense d435i相机配置

说明：运行环境Ubuntu16.04

安装sdk

// Register the server's public key:
sudo apt-key adv --keyserver keys.gnupg.net --recv-key C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver
// Add the server to the list of repositories:
// Ubuntu 16 LTS: 
sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u
// check necessary update package
sudo apt-get update
// Install the libraries (see section below if upgrading packages):
sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils
// Optionally install the developer and debug packages:
sudo apt-get install librealsense2-dev
sudo apt-get install librealsense2-dbg

创建相机节点

下载源码支持包及编译。

// 设定Workspace并定位到已设定的文件夹
mkdir -p ~/catkin_ws/src && cd ~/catkin_ws/src/
// 下载必要的源码
git clone https://github.com/intel-ros/realsense.git 
git clone https://github.com/pal-robotics/ddynamic_reconfigure.git
//打开workspace并编译
cd ~/catkin_ws/ && catkin_make

设置路径

// 配置环境
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

测试运行

// 安装启动文件
sudo apt-get install ros-kinetic-rgbd-launch
// 新开一个终端并启动roscore
roscore
// 再开一个终端并启动相机
roslaunch realsense2_camera rs_rgbd.launch
// 再开一个终端并启动视窗
rviz

realsense-ros配置

1. 在Displays 中 Fixed Frame 选项中，通过下拉菜单选择 camera_link
2. 添加显示项目

Add -> 点击 By topic -> /depth_registered 下的 /points 下的/PointCloud2

3. 添加显示项目

Add -> 上方点击 By topic -> /color 下的 /image_raw 下的image

注意事项

重新启动工程

// 配置环境
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

// 运行节点
roscore
roslaunch realsense2_camera rs_rgbd.launch
rviz

同时需要重新配置realsense-ros

参考内容

https://blog.csdn.net/weixin_44600457/article/details/103900544
https://blog.csdn.net/qq_34935373/article/details/104891420