RealSense D435i驱动安装
官网链接：https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md
Ubuntu16.04安装
- 注册公钥
sudo apt-key adv --keyserver keys.gnupg.net --recv-key C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCDE
- 添加repositories（Ubuntu 16 LTS）
sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u
- 安装library
sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils
- 安装developer和debug packages
sudo apt-get install librealsense2-dev
sudo apt-get install librealsense2-dbg
- 测试SDK
realsense-viewer
打开RGB、双目和IMU，可以看到如下结果
Ubuntu18.04安装
不同之处
- 注册公钥
sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE`
- 添加repositories（Ubuntu 16 LTS）
sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo bionic main" -u
编译RealSense
Intel公司提供的RealSense的ROS安装包；
官方教程：https://github.com/intel-ros/realsense.git
安按照ros工程进行编译
cd ~/catkin_ws/src
git clone https://github.com/intel-ros/realsense.git
cd ..
catkin_make
rospack profile
source devel/setup.bash
- 遇见问题
CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package): Could not find a package configuration file provided by "ddynamic_reconfigure" with any of the following names: ddynamic_reconfigureConfig.cmake ddynamic_reconfigure-config.cmake
-
解决方案
下载编译错误中提示缺失的ddynamic_reconfigure
链接https://github.com/pal-robotics/ddynamic_reconfigure/tree/kinetic-devel
解压到catkin_ws/src空间，再使用catkin_make安装，一般就会编译通过
测试RealSense
- 打开刚刚编译的文件夹
source devel/setup.bash
//打开两个终端：
roslaunch realsense2_camera rs_camera.launch
rostopic list
然后运行（不加filters:=pointcloud好像没有点云的节点）
roslaunch realsense2_camera rs_camera.launch filters:=pointcloud
参考链接
https://blog.csdn.net/weixin_48135525/article/details/117471071
https://blog.csdn.net/weixin_44580210/article/details/89789416
https://blog.csdn.net/qq_41839222/article/details/86552367