Realsense D405相机驱动在Ubuntu 18.04 ROS1中安装（详细版本，亲测可用）

背景

        硬件设备：ASUS VivoBook S5600U , Intel® RealSense™D405

        软件系统：Ubuntu 18.04，ROS1

1. 安装Intel RealSense SDK 2.0

        在终端中输入以下命令以下载 Intel RealSense SDK 2.0 的公共 GPG 密钥：

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys C8B3A55A6F3EFCDE

        运行添加软件源的命令：

sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo bionic main"

        更新软件包列表：

sudo apt-get update

        尝试安装 librealsense2-dev 包：

sudo apt-get install librealsense2-dev

 

 

2. 安装realsense-ros

           创建工作空间站，

mkdir -p ~/fairlee_ws/src
cd ~/fairlee_ws/src/

        然后下载realsense-ros安装

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

        出现下面的显示就说明成功了

        然后，更改下面路径下的文件

realsense-ros/realsense2 camera/include/realsense2_camera/include/constants.h文件中的

 const uint16_t RS405_PID        = 0x0B5B; // DS5U

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

3. 启动相机

source /devel/setup.bash
roslaunch realsense2_camera rs_camera.launch

        可视化结果如下：