Ubuntu18.04 ros-Melodic 使用D435

一、安装Realsense-sdk

1.查看内核

uname -a

我的为5.4

2.下载realsense

在

https://github.com/IntelRealSense/librealsense

下载对应内核版本的realsensesense-lib(我的对应版本为librealsense-2.50.0，已放到网盘链接: https://pan.baidu.com/s/14F1Yjjz2wMQGNShhBD56xQ 提取码: 2g5c)

3.安装依赖、权限脚本

cd librealsense-2.50.0
sudo apt-get install libudev-dev pkg-config libgtk-3-dev libusb-1.0-0-dev pkg-config libglfw3-dev libssl-dev
sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && udevadm trigger 

4.编译安装

mkdir build
cd build
cmake ../ -DBUILD_EXAMPLES=true
make -j8
sudo make install

make -j8过程中若出现无法连接https://github.com/curl/curl/，显示正在克隆到 libcurl ，结束任务。

将/home/liwuhao/realsense/librealsense-2.50.0/CMake里external_libcurl.cmake文件中第20行改为

GIT_REPOSITORY "https://gitee.com/liwuhaoooo/curl.git"

/home/liwuhao/realsense/librealsense-2.50.0/CMake里external_libusb.cmake文件中第8行引号中内容改为

https://gitee.com/liwuhaoooo/libusb.git

再次执行make -j8

5.测试

连接上相机，cd 到 librealsense/build/examples/capture 目录下执行：

./rs-capture

二、安装Realsense-Ros

1.新建工作空间

mkdir -p ~/D435/src
cd ~/catkin_realsense/src
catkin_init_workspace
cd ..
catkin_make

2.下载Realsense-Ros功能包

cd ~/catkin_realsense/src
git clone https://gitee.com/liwuhaoooo/realsense-ros.git
git clone https://gitee.com/liwuhaoooo/ddynamic_reconfigure.git
cd ..
catkin_make

source devel/setup.bash

3.运行

roslaunch realsense2_camera demo_pointcloud.launch