一、基本使用
1、安装依赖
sudo apt-get install git cmake libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev
sudo apt install git libssl-dev libusb-1.0-0-dev pkg-config -y
sudo apt install cmake python3-dev raspberrypi-kernel-headers -y
2、添加镜像源
密钥
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
镜像源
sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u
3、安装
sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils
sudo apt-get install librealsense2-dev
sudo apt-get install librealsense2-dbg
4、新建终端检测是否安装成功
realsense-viewer
二、安装realsense对应的ros包
新建ROS工作空间,这里步骤省略
mkdir -p ~/ROS_function_ws/catkin_visual_slam/src
cd src
catkin_init_workspace
git clone https://github.com/intel-ros/realsense.git
cd ..
catkin_make
在~/.bashrc设置环境变量
catkin_make出现报错:
Could not find a package configuration file provided by ddynamic_reconfigure with any of the following names:
ddynamic_reconfigureConfig.cmake
ddynamic_reconfigure-config.cmake
解决方法:二进制安装所缺库
sudo apt-get install ros-melodic-ddynamic-reconfigure
重新编译realsense对应的ros包,成功。
三、启动ROS
roslaunch realsense2_camera rs_camera.launch
先将话题记录如下: