Ubuntu下安装RealSense的Ros包

Ubuntu下安装RealSense的Ros包

melodic版本对应的官方教程：GitHub - IntelRealSense/realsense-ros: Intel(R) RealSense(TM) ROS Wrapper for D400 series, SR300 Camera and T265 Tracking Module

1.介绍

准备工作：
首先需要在Ubuntu中安装Ros(Ubuntu16.04对应的Ros版本为ROS Kinetic)，关于Ubuntu下Ros的安装大家可参考下面网址：

    http://wiki.ros.org/kinetic/Installation/Ubuntu
    https://blog.csdn.net/shijiegong123/article/details/103082119

2.安装RealSense的Ros包

Install Intel® RealSense™ ROS from Sources
Create a catkin workspace

    $mkdir -p ~/catkin_ws/src

    $cd ~/catkin_ws/src/

    Clone the latest Intel® RealSense™ ROS from here into catkin_ws/src/
    https://github.com/IntelRealSense/realsense-ros/releases

    $catkin_init_workspace

    $cd ..

（以下可以直接catkin_make,，然后source devel/setup.bash）

    $catkin_make clean

    $catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release

    $catkin_make install

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

    1

    $source ~/.bashrc

若编译时出现
realsense2_camera/src/base_realsense_node.cpp:363:14: error: ‘class ddynamic_reconfigure::DDynamicReconfigure’ has no member named ‘publishServicesTopics’ ddynrec->publishServicesTopics();

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-kinetic-ddynamic_reconfigure （没有效果）

    需要进入
    https://github.com/pal-robotics/ddynamic_reconfigure 下载源码DDynamic_reconfigure，将源码放到catkin_ws/src/下再重新catkin_make

注意：下载kinetic-devel分支！！！

3.使用
安装好RealSense的Ros包后，打开终端使用下面指令查看
$roslaunch realsense2_camera rs_rgbd.launch(或者roslaunch realsense2_camera rs_camera.launch)

$rostopic echo /camera/color/camera_info

4.问题
ResourceNotFound: rgbd_launch

Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

Traceback (most recent call last):
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/__init__.py", line 307, in main
    p.start()
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/parent.py", line 268, in start
    self._start_infrastructure()
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/parent.py", line 217, in _start_infrastructure
    self._load_config()
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/parent.py", line 132, in _load_config
    roslaunch_strs=self.roslaunch_strs, verbose=self.verbose)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/config.py", line 451, in load_config_default
    loader.load(f, config, verbose=verbose)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 746, in load
    self._load_launch(launch, ros_config, is_core=core, filename=filename, argv=argv, verbose=verbose)
..........................................
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 329, in _resolve_args
    resolved = commands[command](resolved, a, args, context)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 142, in _find
    source_path_to_packages=source_path_to_packages)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 188, in _find_executable
    full_path = _get_executable_path(rp.get_path(args[0]), path)
  File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 203, in get_path
    raise ResourceNotFound(name, ros_paths=self._ros_paths)
ResourceNotFound: rgbd_launch

解决办法：
sudo apt-get install ros-kinetic-rgbd-launch

具体可参考网址：https://github.com/IntelRealSense/realsense-ros

参考链接：https://blog.csdn.net/shijiegong123/article/details/102736987