realsense摄像头sdk以及ros包安装

1.librealsense安装：

参考官方教程从源码安装

librealsense/doc/installation.md at master · IntelRealSense/librealsense · GitHub
注意：安装时，不要将相机连在电脑上。

#安装依赖项
sudo apt-get update && sudo apt-get upgrade && sudo apt-get dist-upgrade
sudo apt-get install libssl-dev libusb-1.0-0-dev libudev-dev pkg-config libgtk-3-dev
sudo apt-get install git wget cmake build-essential
sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev at

#克隆librealsense仓库
git clone https://github.com/IntelRealSense/librealsense.git

#运行权限
./scripts/setup_udev_rules.sh

#修补内核
./scripts/patch-realsense-ubuntu-lts-hwe.sh

#配置，编译和安装
cd librealsense
mkdir build
cd build
cmake ../ -DBUILD_EXAMPLES=true
sudo make uninstall
make clean
make
sudo make install

测试：

realsense-viewer 

遇到的问题： 

执行./scripts/patch-realsense-ubuntu-lts-hwe.sh时:

没解决但好像也不影响

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2.ros_realsense安装：https://github.com/IntelRealSense/realsense-ros/tree/ros1-legacy?tab=readme-ov-file

从源码安装：

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

会报错找不到“ddynamic_reconfigure”，用以下指令安装：

sudo apt-get update
sudo apt-get install ros-<distro>-ddynamic-reconfigure

最后： 

echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

 测试：

source devel/setup.bash
roslaunch realsense2_camera rs_camera.launch

再打开rviz， frame选择camera_link

 然后add-->by topic，选择/camera下一个话题，有图像正常显示出来，测试成功

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按顺序先装SDK，再装ros包就行。

一开始先装了ros包，执行roslaunch指令会报错“process has died"，于是把包删除了重新按照顺序装就好了。

 参考文章：Intel Realsense D455深度相机的标定及使用（一）——安装librealsense SDK2.0以及realsense-ros_realsense sdk2.0手册-CSDN博客