安装D435驱动+ros包

1.安装失败方案：
源码编译

sudo apt-get update && sudo apt-get upgrade && sudo apt-get dist-upgrade
sudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev
git clone https://github.com/IntelRealSense/librealsense.git
cd librealsense/
sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/ 
sudo udevadm control --reload-rules && udevadm trigger
./scripts/patch-realsense-ubuntu-lts.sh
echo 'hid_sensor_custom' | sudo tee -a /etc/modules
mkdir build && cd build
cmake ../ -DBUILD_EXAMPLES=true
sudo make uninstall && make clean && make -j4 && sudo make install

2.成功方案：
注册秘钥

sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE

服务器加入仓库

Ubuntu 16 LTS:
sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo xenial main" -u
Ubuntu 18 LTS:
sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo bionic main" -u
Ubuntu 20 LTS:
sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo focal main" -u

库的安装

sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils

验证

验证：连接realsense，终端输入realsense-viewer即可

3.ros包测试