ubuntu16 下 realsensed435i 的驱动安装

参考链接

安装环境

系统：ubuntu 16.04
ROS： Kinetic
传感器：intel realsense d435i

安装Realsense SDK

安装依赖项

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
sudo apt-get install libgl1-mesa-dev libglu1-mesa-dev

直接安装官方已经编译好的包：

sudo apt-key adv --keyserver keys.gnupg.net --recv-key C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver kp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCDE
sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u
sudo apt install librealsense2-dkms
sudo apt install librealsense2-utils
sudo apt install librealsense2-dev
sudo apt install librealsense2-dbg

ROS RealSense的镜像安装

sudo apt-get install ros-kinetic-realsense2-camera

RealSense启动

roslaunch realsense2_camera rs_camera.launch

附加点云启动

roslaunch realsense2_camera rs_camera.launch filters:=pointcloud

rviz 查看效果

rosrun rviz rviz