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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

1. 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