1.安装环境
ubuntu:ubuntu18.04(ubuntu16.04)
ROS:melodic(kinetic)
注:ubuntu16依旧适用
2.安装SDK–对应ROS的安装包依赖这个SDK
git clone https://github.com/IntelRealSense/librealsense
cd librealsense
这个链接通常下载的很慢,建议从码云下载。将下载下的文件解压考到/home下,直接进去打开终端。
#安装依赖
sudo apt-get install libudev-dev pkg-config libgtk-3-dev
sudo apt-get install libusb-1.0-0-dev pkg-config
sudo apt-get install libglfw3-dev
sudo apt-get install libssl-dev
#安装权限脚本
sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && udevadm trigger
#编译安装,这个要在 librealsense目录(下
mkdir build
cd build
cmake ../ -DBUILD_EXAMPLES=true
make
sudo make install
进入librealsense/build/examples/capture,测试效果:
./rs-capture
realsense-viewer #这是一个GUI
刚打开的界面
设置一下:
3.ROS包的安装
安装ROS包前要先安sdk
ROS有官方的包只需要安装:
//melodic
sudo apt install ros-melodic-realsense2-camera
sudo apt install ros-melodic-realsense2-description
//kinetic
sudo apt install ros-kinetic-realsense2-camera
sudo apt install ros-kinetic-realsense2-description
以下语句不能同时执行:
roslaunch realsense2_camera rs_camera.launch #发布图片
roslaunch realsense2_camera rs_camera.launch filters:=pointcloud #发布点云
roslaunch realsense2_camera rs_camera.launch filters:=colorizer #发布彩色深度图
现在执行第三句,用rqt_image_view查看图片。
RGB图片
深度图片:
查看点云:
roslaunch realsense2_camera rs_camera.launch filters:=pointcloud
rosrun rviz rviz
在使用下面的指令可能会出先错误:
roslaunch realsense2_camera rs_rgbd.launch
error:
Resource not found: rgbd_launch
ROS path [0]=/opt/ros/melodic/share/ros
ROS path [1]=/home/mue/catkin_ws/src
ROS path [2]=/opt/ros/melodic/share
The traceback for the exception was written to the log file
解决:
sudo apt-get install ros-melodic-rgbd-launch