Ubuntu20 RealsenseD435i ROS1使用文档

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已于 2024-08-09 11:29:06 修改

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于 2024-08-08 13:55:49 首次发布

本文链接：https://blog.csdn.net/skyufooo/article/details/141024769

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1.Realsense SDK安装

注册服务器公钥

sudo apt-get update && sudo apt-get upgrade && sudo apt-get dist-upgrade
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE

将服务器添加到存储库列表

sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u

安装SDK2

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

测试安装结果

realsense-viewer

2.Realsense ROS包安装

cd ~/catkin_ws/src
git clone -b ros1-legacy https://github.com/IntelRealSense/realsense-ros.git
git clone https://github.com/pal-robotics/ddynamic_reconfigure.git
catkin_make clean
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release

3.Realsense ROS包运行

进入工作空间后更改环境变量操作不使用source devel/setup.bash操作，使用source /opt/ros/noetic/setup.bash否则会报错
直接执行以下指令：

roslaunch realsense2_camera rs_camera.launch

/opt/ros/noetic/lib/nodelet/nodelet: symbol lookup error: /home/robot/catkin_ws/devel/lib//librealsense2_camera.so: undefined symbol: _ZN20ddynamic_reconfigure19DDynamicReconfigureC1ERKN3ros10NodeHandleE