安装环境
系统:Ubuntu18.04 +ROS Melodic
深度相机:Intel RealSense - D435i
一、源码安装 librealsense
注意事项:realsense-ros 要和 librealsense 版本匹配,比如 realsense-ros V2.3.0 支持的 Realsense SDK 为 librealsense V2.48 .0
1.更新系统(在工作空间外进行即可)
sudo apt-get update && sudo apt-get upgrade && sudo apt-get dist-upgrade
2.下载源码
git clone -b v2.48.0 https://github.com/IntelRealSense/librealsense.git
cd librealsense
3.安装依赖(断开D435i连接)
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
4.安装权限脚本
sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && udevadm trigger
5.编译安装(librealsense文件夹内进行)
mkdir build
cd build
cmake ../ -DBUILD_EXAMPLES=true
make
sudo make install
6.测试
进入librealsense/build/examples/capture,测试:
./rs-capture
或直接使用realsense-viewer工具查看效果(得到如下效果):
realsense-viewer
二、源码安装RealSense-ROS
1.创建工作空间
mkdir -p ~/catkin_ws/src && cd ~/catkin_ws/src
2.下载源码,并检查依赖
git clone https://github.com/IntelRealSense/realsense-ros.git
git clone https://github.com/pal-robotics/ddynamic_reconfigure.git
cd ~/catkin_ws
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
catkin_make
3.测试:
roslaunch realsense2_camera rs_camera.launch
# 查看发布的话题
rostopic list
参考:https://zhuanlan.zhihu.com/p/93127918