D435i相机AGX环境下的使用记录

@[TOC]目录

D435i 在AGX 中环境的编译和使用

1.环境搭建

1. 首先安装官方的SDK
2. SDK 官方git安装链接

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

#在home 终端 输入
realsense-viewer
即可显示

如图

4. 源码安装ros-realSense 驱动 （Install Intel® RealSense™ ROS from Sources）

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 ..
catkin_make clean
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
catkin_make install
#如果想要启动终端启动source则
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
#否则
source devel/setup.bash
#运行
roslaunch realsense2_camera rs_camera.launch

2. IMU 标定

他人博客

3. 报错记录

1. 读取IMU数据

 topic ：camera/imu  

问题：rostopic echo camera/imu 后没有输出数据，且launch报错如下

 02/11 20:50:18,674 WARNING [140196725126912] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: No data available, number: 3d
 02/11 20:50:18,725 WARNING [140196725126912] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 02/11 20:50:18,776 WARNING [140196725126912] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 02/11 20:50:18,827 WARNING [140196725126912] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 02/11 20:50:18,878 WARNING [140196725126912] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61

原因是 缺少依赖，解决办法

sudo apt purge ros-kinetic-librealsense2