安装ROS Wrapper for Intel RealSense（realsense-ros）

1、创建 catkin 工作区

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src/

2、安装Intel® RealSense™ ROS和ros 软件包ddynamic_reconfigure 

git clone https://github.com/IntelRealSense/realsense-ros.git
git clone https://github.com/pal-robotics/ddynamic_reconfigure.git
cd realsense-ros/
git checkout `git tag | sort -V | grep -P "^2.\d+\.\d+" | tail -1`
cd ..

3、编译

catkin_init_workspace
cd ..
catkin_make clean
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
catkin_make install

4、配置环境

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

5、插入realsense相机测试

roslaunch realsense2_camera rs_camera.launch

     有东西跳出来就OK，大功告成！

roslaunch realsense2_camera demo_pointcloud.launch 

参考文献

realsense-ros安装