ROS下intel realsense D435i安装

1.安装Realsense SDK

参考官方文档

a.下载librealsense github存储库

git clone https://github.com/IntelRealSense/librealsense
cd librealsense

b.安装构建librealsense所需的核心软件包

Unplug any connected Intel RealSense camera.
拔出相机连接

sudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev

特定于发行版的软件包

Ubuntu 18:

sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev

c.安装权限脚本

cd librealsense
./scripts/setup_udev_rules.sh

d.构建和修补内核模块

这一步运行较慢，实际过程中没有使用这一步也能够使用相机。

./scripts/patch-realsense-ubuntu-lts.sh

e.编译安装

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

f.test

进入librealsense/build/examples/capture，测试效果：

./rs-capture 

或直接使用realsense-viewer工具查看效果：

realsense-viewer

2.另一种安装方法（Distribution版）

a.注册公匙

sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE

b.添加服务器至列表

Ubuntu 18 LTS:

sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic main" -u

c.安装库

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

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

3.安装RealSense-ROS

参考官方文档

#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/'
git clone https://github.com/IntelRealSense/realsense-ros.git
git clone https://github.com/pal-robotics/ddynamic_reconfigure.git 
#ros package ddynamic_reconfigure is installed

catkin_init_workspace
cd ..
catkin_make clean
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
catkin_make install
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

启动相机节点

roslaunch realsense2_camera rs_rgbd.launch

查看Published Topics

rostopic list

3.补充

查看ros版本：cd /opt/ros/melodic
终端执行：roslaunch realsense2_camera rs_rgbd.launch
报错：ResourceNotFound: rgbd_launch
解决方案：sudo apt-get install ros-melodic-rgbd-launch

uname -r #查看内核版本