Ubuntu18.04 安装D435i ROS

一、D435i SDK安装

sdk包：v2.38.1
安装源码：https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md
1、注册公匙：

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

2、添加包仓库列表

# ubuntu18.04 
sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic main" -u

3下载源码

git clone https://github.com/IntelRealSense/librealsense
cd librealsense

4 安装库及开发包

##构建librealsense二进制文件和核心模块的核心软件包
sudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
#Distribution-specific packages: 
sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev
#ubuntu18 环境
sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils
# 安装以下内容会直接安装最新版
sudo apt-get install librealsense2-dev
sudo apt-get install librealsense2-dbg

5从librealsense目录运行intel realsense 脚本

./scripts/setup_udev_rules.sh

6 构建应用修补模块

*** Ubuntu 14/16/18 with LTS kernel**
./scripts/patch-realsense-ubuntu-lts.sh

7 编译

mkdir build
cd build
cmake ../ -DBUILD_EXAMPLES=true
make
sudo make install

8 效果

进入/librealsense/build/examples/capture  ./rs-capture
or  realsense viewer

参考链接：https://blog.csdn.net/qq_41839222/article/details/86503113

二、对应的ROS包

三、安装realsense-ros

realsenseV2.38.1 对应realsense-ros 2.2.17 对应ddynamic_reconfigure 0.3.2
官网：https://github.com/IntelRealSense/realsense-ros
下载安装：下载realsense相对应的realsense-ros版本，连接：1 https://github.com/IntelRealSense/realsense-ros/releases
2 https://github.com/pal-robotics/ddynamic_reconfigure/tree/kinetic-devel

git clone https://github.com/IntelRealSense/realsense-ros.git
git clone https://github.com/pal-robotics/ddynamic_reconfigure.git

a: Create a catkin workspace Ubuntu

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src/

b:

'catkin_ws/src/'
git clone https://github.com/IntelRealSense/realsense-ros.git
git clone https://github.com/pal-robotics/ddynamic_reconfigure.git
# 

c:编译

cd ~/catkin_ws 
catkin_make clean
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
catkin_make install

编译出错：catkin_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:363:14: error: ‘using element_type = class ddynamic_reconfigure::DDynamicReconfigure {aka class ddynamic_reconfigure::DDynamicReconfigure}’ has no member named ‘registerVariable’
ddynrec->registerVariable(
原因：IntelRealSense-Ros上缺少DDynamic_reconfigure（被intel删掉了），因此需要安装DDynamic_reconfigure
解决办法：

sudo apt-get install ros-melodic-ddynamic_reconfigure 

（没有效果）
下载源码ddynamic_reconfigure，将源码放到catkin_ws/src/下重新catkin_make

d:Ubuntu

echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

e:启动相机节点

roslaunch realsense2_camera rs_camera.launch
roslaunch realsense2_camera rs_rgbd.launch

f:查看节点

rostopic list

e: rviz查看結果

rviz

没有安装的话就安装一下

sudo apt-get install rviz
sudo apt-get install ros-melodic-rgbd-launch

四、验证
b: 打开2个终端，输入

#终端1
roslaunch realsense2_camera rs_camera.launch
#终端2
rostopic list
rviz

此时并不能看到什么结果.
左上角 Displays 中 Fixed Frame 选项中，下拉菜单选择 camera_link
这是主要到Global Status变成了绿色
点击该框中的Add -> 上方点击 By topic -> /depth_registered 下的 /points 下的/PointCloud2

点击该框中的Add -> 上方点击 By topic -> /color 下的 /image_raw 下的image

1.http://wiki.ros.org/melodic/Installation/Ubuntu
2.https://github.com/IntelRealSense/realsense-ros
3.https://my.oschina.net/u/4412486/blog/4685555
4.https://github.com/jetsonhacks/installRealSenseSDK.git
5.git clone https://github.com/pal-robotics/ddynamic_reconfigure.git