ROS安装D435 realsense sdk2.0

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一、RealSense的SDK2.0安装

1.注册服务器的公钥

sudo apt-get update && sudo apt-get upgrade && sudo apt-get dist-upgrade
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
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2.将服务器添加到存储库列表中

sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u
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3.安装SDK2

sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils
sudo apt-get install librealsense2-dev
sudo apt-get install librealsense2-dbg
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4.测试安装结果

realsense-viewer 
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二、ROS包安装

安装ROS版本的realsense2_camera

sudo apt-get install ros-$ROS_DISTRO-realsense2-camera
sudo apt-get install ros-$ROS_DISTRO-realsense2-description
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三、安装rgbd-launch

安装rgbd-launch

rgbd_launch是一组打开RGBD设备，并load 所有nodelets转化 raw depth/RGB/IR 流到深度图(depth image), 视差图(disparity image)和点云(point clouds)的launch文件集。

sudo apt-get install ros-$ROS_DISTRO-rgbd-launch
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测试编译结果：

roslaunch realsense2_camera demo_pointcloud.launch 
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