D435i在Ubuntu20.04下与ROSnoetic结合使用

一、下载Intel® RealSense™ SDK 2.0包

 参考链接

https://gitcode.com/gh_mirrors/li/librealsense/blob/development/doc/distribution_linux.md?utm_source=csdn_github_accelerator&isLogin=1

1、首先注册服务器的公共钥匙：

sudo mkdir -p /etc/apt/keyrings
curl -sSf https://librealsense.intel.com/Debian/librealsense.pgp | sudo tee /etc/apt/keyrings/librealsense.pgp > /dev/null

2、确保安装HTTPS：

sudo apt-get install apt-transport-https

3、将服务器添加到存储库列表中：

echo "deb [signed-by=/etc/apt/keyrings/librealsense.pgp] https://librealsense.intel.com/Debian/apt-repo `lsb_release -cs` main" | \
sudo tee /etc/apt/sources.list.d/librealsense.list
sudo apt-get update

4、安装相机相关库：

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

sudo apt-get install librealsense2-dev
sudo apt-get install librealsense2-dbg

5、更新相机库：

sudo apt-get update
sudo apt-get upgrade

6、相机使用：

realsense-viewer

二、在ROS中使用相机RealSense-D435i

1、创建ROS工作空间

mkdir -p ws_camera/src

2、克隆相机ROS文件到工作空间下

cd /ws_camera/src

git clone https://github.com/IntelRealSense/realsense-ros.git
cd realsense-ros/
git checkout `git tag | sort -V | grep -P "^2.\d+\.\d+" | tail -1`
cd ..

3、初始化工作空间

catkin_init_workspace
cd ..
catkin_make clean
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
catkin_make install

4、创建时缺啥下载啥（最后一句下载缺少的内容）举一个例子

  Could not find a package configuration file provided by
  "ddynamic_reconfigure" with any of the following names:

    ddynamic_reconfigureConfig.cmake
    ddynamic_reconfigure-config.cmake


sudo apt-get install ros-noetic-ddynamic-reconfigure

5、编译环境

sudo gedit ~/.bashrc

# 在文件内添加工作空间的路径保存退出后
source ~/.bashrc

6、在ROS启动相机节点

# 相机点云模式
roslaunch realsense2_camera rs_camera.launch filters:=pointcloud

# 打开rviz
rosrun rviz rviz

7、添加PointCloud2

# 话题
/camera/color/image_raw

8、添加Image

# 话题
/camera/color/image_raw

至此，相机的简单操作就完成了。