realsense ROS2 获取相机内参 ubuntu 22.04 humble | ROS ROS2 实践命令行 对比

参考：ubuntu20.08下获取realsense内参（使用ros功能包）_realsense相机内参-CSDN博客

1. 下载realsense的ros2包

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

2. launch测试一下

ros2 launch realsense2_camera rs_launch.py

中间我运行过下面👇的命令，不知道有没有影响：

colcon build
source ./install/setup.sh

3. 获取realsense相机内参

ros2 topic echo /camera/camera/color/camera_info 

结果：

k:
- 908.4378662109375  fx
- 0.0
- 648.5411376953125  cx
- 0.0
- 908.0997314453125  fy
- 380.6193542480469  cy

4. ROS ROS2 指令对比

roslaunch realsense2_camera rs_camera.launch
ros2 launch realsense2_camera rs_launch.py

catkin_make
colcon build

source ~/catkin_ws/devel/setup.bash
source ~/dev_ws/install/setup.sh

rostopic list
ros2 topic list