ros 和Intel RealSense D400
https://blog.csdn.net/bluewhalerobot/article/details/88894329
Realsense D435i + ROS 环境配置
https://www.cnblogs.com/dinghongkai/p/11300167.html
catkin_sunbin/src/realsense-ros/realsense2_camera/launch/includes/nodelet.launch.xml
下查代码如何读取摄像头
<node pkg="nodelet" type="nodelet" name="realsense2_camera" args="load realsense2_camera/RealSenseNodeFactory $(arg manager)" required="$(arg required)">
catkin_sunbin/src/realsense-ros/realsense2_camera/src/realsense_node_factory.cpp下面看
具体细节