文章目录

• 1. 安装Realsense SDK
• 2. 安装 ROS Wrapper
• 3. 运行
• 4. 参考链接

1. 安装Realsense SDK

(1)下载资源librealsense，从github下载source

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

(2)安装依赖项分别执行

sudo apt-get install libudev-dev pkg-config libgtk-3-dev
sudo apt-get install libusb-1.0-0-dev pkg-config
sudo apt-get install libglfw3-dev
sudo apt-get install libssl-dev

(3)编译librealsense

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

(4)进入/librealsense/build/examples/capture,在此位置下打开终端执行./rs-capture

2. 安装 ROS Wrapper

(1)建立workspace

mkdir -p ~/realsense_ws/src
cd ~/realsense_ws/src/
catkin_init_workspace 
cd ..
catkin_make
echo "source ~/realsense_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

(2)下载ddynamic_reconfigure与realsense-ros

cd ~/realsense_ws/src/
git clone https://github.com/pal-robotics/ddynamic_reconfigure.git
git clone https://github.com/IntelRealSense/realsense-ros.git

(3)编译

cd ..
catkin_make

3. 运行

roslaunch realsense2_camera rs_camera.launch

4. 参考链接

http://nicethemes.cn/news/txtlist_i61856v.html

https://blog.csdn.net/qq_38649880/article/details/91975100?spm=1001.2014.3001.5502