基于ros打开realsense摄像头

• 安装ROS

  • sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
    # 如果出现找不到有效的 OpenPGP 数据，就分开执行，访问网址，将内容保存到ros.asc后，再sudo apt-key add ros.asc
    curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
    # 更新过程中如果出现某个源没有Release文件，则是网络运营商问题，更换网络运营商
    sudo apt update
    sudo apt install ros-melodic-desktop-full
    # 注意melodic这里是ubuntu18.04的版本
    echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
    source ~/.bashrc

  • Ubuntu18.04安装ROS Melodic（详细，亲测安装完成，有清晰的截图步骤）_mango-CSDN博客
• 安装realsense sdk 2.0

  • export http_proxy="http://<proxy>:<port>"
    sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
    sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u
    sudo apt-get install librealsense2-utils 
    sudo apt-get install librealsense2-dev
    

• 安装realsense_ros

  • mkdir -p ~/catkin_ws/src
    cd ~/catkin_ws/src/
    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`
    cd ..
    catkin_init_workspace
    cd ..
    #-------------------------------------------------------------------
    # 1.需要下载下面这些源码放在src/目录下
        # git clone https://github.com/ros-perception/vision_opencv
        # git clone https://github.com/pal-robotics/ddynamic_reconfigure
    # 2.出现Could not find the following Boost libraries解决方法如下
        # find /usr/lib -name  libboost_python* （假设搜索到的路径是/usr/lib/x86_64-linux-gnu/）
        # cd /usr/lib/x86_64-linux-gnu/
        # sudo ln -s libboost_python-py36.so libboost_python37.so
    # 3.出现/usr/include/python2.7/numpy/__multiarray_api.h:1537:144: error: return-statement with no value, in function returning ‘void*’ [-fpermissive]
        # 这个问题是由于cv_bridge用了python2来编译，我们需要把python版本改成python3
        # 打开cv_bridge包中的CMakeLists.txt，然后在find_package(PythonLibs)前面添加以下两句话
        # set(PYTHON_NUMPY_INCLUDE_DIR ~/.local/lib/python3.6/site-packages/numpy/core/include)
        # set(PYTHON_INCLUDE_DIR /usr/include/python3.6)
    catkin_make clean
    #-------------------------------------------------------------------
    catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
    catkin_make install
    echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
    source ~/.bashrc

• roslaunch realsense2_camera rs_camera.launch
• rosrun rviz rviz
  • 需要安装sudo apt install ros-melodic-rosbash; sudo apt-get install ros-melodic-rviz
  • 在rviz中为了能看到图像，要调制一下参数
    • fixed frame->camera_link
    •  add->by topic->color->image raw->image