1、装realsense SDK
1.1如果前期装过失败则:删除之前安装的RealSense库文件
sudo apt-get remove ros-melodic-librealsense2
1.2下载SDK(选择想要的版本)
下载网址及手动安装压缩包下载网址:
https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md
https://github.com/IntelRealSense/librealsense/archive/master.zip
1.3安装依赖项
sudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
sudo apt-get install libglfw3-dev
1.4编译和安装SDK
先解压上面下载的zip:用unzip 压缩包名字.zip
cd librealsense
mkdir build
cd build
cmake ../ -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=true
sudo make install
1.5新打开终端 运行realsense-viewer,测试能否成功
2、 安装realsense-ros
2.1安装方法网址:
https://github.com/IntelRealSense/realsense-ro
在相应的ros空间中运行以下:
git clone -b 2.2.11 https://github.com/IntelRealSense/realsense-ros.git
git clone https://github.com/pal-robotics/ddynamic_reconfigure.git
cd ..
catkin_make
catkin_make遇到的问题:
解决办法:
在/home/lab/catkin_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp中添加
using namespace std;
2.2安装测试realsense的ROS包
启动在 ~/catkin_ws$ 中运行:
roslaunch realsense2_camera rs_rgbd.launch
rosrun rviz rviz
在rviz中添加话题
左上角 Displays 中 Fixed Frame 选项中,下拉菜单选择 camera_link,Global Status由红色变绿。
Add -> 上方点击 By topic -> /depth_registered 下的 /points 下的/PointCloud2
Add -> 上方点击 By topic -> /color 下的 /image_raw 下的image
...…
没报错就好啦