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Ubuntu18.04 + ROS melodic 安装使用 InterRealSenseD435i SDK2和RealSense-ROS以及查看相机内参（吐血整理，踩坑总结）_[camera/realsense2_camera_manager-2] process has d

作者：代码诗人 | 2024-02-04 18:57:36

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[camera/realsense2_camera_manager-2] process has died

目录

前言

安装要求

一、安装使用 InterRealSenseD435i SDK2

1.注册服务器的公钥：

2.将服务器添加到存储库列表中：

3.安装库：

4.安装开发者和调试包：

5.测试SDK2

二、安装RealSense-ROS

1.创建ROS工作空间

2.下载realsense-ros安装包和ddynamic_reconfigure包放在src文件夹下,采用源码下载

3.编译

4.测试

三、查看相机内参

前言

本文写于2022年4月7日，在经历了两天的配置环境，心里从最初拿到相机的高兴，逐渐烦躁，碰到种种问题，再到最后终于解决了种种问题后，决定写博客记录下来，话不多说，开始吧。

安装要求

1.Ubuntu版本为18.04

2.安装了ROS melodic

本人ubuntu小白一枚，不知道在安装 RealSense-ROS 之前要安装 Ubuntu18.04 对应的ROS melodic，在没装ROS之前安装 RealSense-ROS 总会出现一个报错

  1. -- Could not find the required component 'ddynamic_reconfigure'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
  2. CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  3.   Could not find a package configuration file provided by
  4.   "ddynamic_reconfigure" with any of the following names:
  5.  
  6.     ddynamic_reconfigureConfig.cmake
  7.     ddynamic_reconfigure-config.cmake
  8.  
  9.   Add the installation prefix of "ddynamic_reconfigure" to CMAKE_PREFIX_PATH
  10.   or set "ddynamic_reconfigure_DIR" to a directory containing one of the
  11.   above files.  If "ddynamic_reconfigure" provides a separate development
  12.   package or SDK, be sure it has been installed.
  13. Call Stack (most recent call first):
  14.   realsense/realsense2_camera/CMakeLists.txt:8 (find_package)
  15.  
  16.  
  17. -- Configuring incomplete, errors occurred!
  18. See also "/home/bruce/catkin_ws/build/CMakeFiles/CMakeOutput.log".
  19. See also "/home/bruce/catkin_ws/build/CMakeFiles/CMakeError.log".
  20. Makefile:1536: recipe for target 'cmake_check_build_system' failed
  21. make: *** [cmake_check_build_system] Error 1
  22. Invoking "make cmake_check_build_system" failed

我是已经下载了ddynamic_reconfigure的package，放在了指定文件夹下，依然会报上述错误，此时我意识到了，我没有安装ROS，开始安装ROS，安装ROS的详细步骤请看我的这篇博客Ubuntu18.04安装Ros Melodic，接下来，开始安装。

一、安装使用 InterRealSenseD435i SDK2

在这里我是采用命令行的安装方式安装，参考官方安装教程

1.注册服务器的公钥：

打开终端输入

sudo apt-key adv --keyserver keys.gnupg.net --recv-key C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCDE

2.将服务器添加到存储库列表中：

在终端里输入

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

3.安装库：

在终端里输入

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

4.安装开发者和调试包：

在终端里输入

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

5.测试SDK2

把相机与电脑上的USB3.0口相连后（不是USB3.0口可能会出问题），打开终端输入

realsense-viewer

 左侧三个开关从上到下依次是深度，RGB以及IMU，都能打开后出现以上图片，说明SDK2安装成功了。（之前安装过一次，第三个IMU按钮打不开，然后重新安装了一遍，IMU就可以打开了）

二、安装RealSense-ROS

参考官方教程

1.创建ROS工作空间

参考此篇博客

1.创建catkin_ws

1)创建src文件夹，放置功能包源码

打开终端输入

mkdir -p ~/catkin_ws/src

如果之前已经创建好了此文件夹，可以从以下步骤开始

2)进入src文件夹

打开终端输入

cd ~/catkin_ws/src

3)初始化文件夹

在终端里输入

catkin_init_workspace

这样就在src文件中创建了一个 CMakeLists.txt 的文件，目的是告诉系统，这个是ROS的工作空间。

2.下载realsense-ros安装包和ddynamic_reconfigure包放在src文件夹下,采用源码下载

两个包都下载到 ~/catkin_ws/src 文件夹下

1下载realsense-ros安装包

在终端里输入

  1. #原来的链接（最近似乎添加了新的东西，原来的链接下载后东西变了）
  2. git clone https://github.com/IntelRealSense/realsense-ros.git
  3.  
  4. #新的链接
  5. git clone https://github.com/IntelRealSense/realsense-ros/tree/ros1-legacy.git

2下载ddynamic_reconfigure包

在终端里输入

git clone https://github.com/pal-robotics/ddynamic_reconfigure.git

如果缺少ddynamic_reconfigure包，将会在编译阶段报以下错误

  1. -- Could not find the required component 'ddynamic_reconfigure'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
  2. CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  3.   Could not find a package configuration file provided by
  4.   "ddynamic_reconfigure" with any of the following names:
  5.  
  6.     ddynamic_reconfigureConfig.cmake
  7.     ddynamic_reconfigure-config.cmake
  8.  
  9.   Add the installation prefix of "ddynamic_reconfigure" to CMAKE_PREFIX_PATH
  10.   or set "ddynamic_reconfigure_DIR" to a directory containing one of the
  11.   above files.  If "ddynamic_reconfigure" provides a separate development
  12.   package or SDK, be sure it has been installed.
  13. Call Stack (most recent call first):
  14.   realsense/realsense2_camera/CMakeLists.txt:8 (find_package)
  15.  
  16.  
  17. -- Configuring incomplete, errors occurred!
  18. See also "/home/bruce/catkin_ws/build/CMakeFiles/CMakeOutput.log".
  19. See also "/home/bruce/catkin_ws/build/CMakeFiles/CMakeError.log".
  20. Makefile:1536: recipe for target 'cmake_check_build_system' failed
  21. make: *** [cmake_check_build_system] Error 1
  22. Invoking "make cmake_check_build_system" failed

3.编译

所有编译工作都要在 ~/catkin_ws 文件夹下编译

在终端里输入

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

注：把我们工作空间的环境变量设置到bash中

source ~/.bashrc

注：让上面的配置在当前的终端生效

4.测试

1.测试相机发布的话题

运行相机节点，打开终端输入

roslaunch realsense2_camera rs_camera.launch

报出错误1

  1. Resource not found: rgbd_launch
  2. ROS path [0]=/opt/ros/melodic/share/ros
  3. ROS path [1]=/home/gipsy/catkin_ws/src
  4. ROS path [2]=/opt/ros/melodic/share
  5. The traceback for the exception was written to the log file

参考此篇博客

根本原因是在进行该launch命令时，找不到rgbd_launch相关的功能包依赖，打开终端输入

sudo apt-get install ros-melodic-rgbd-launch

再次运行相机节点，打开终端输入

roslaunch realsense2_camera rs_camera.launch

报出错误2

  1. /opt/ros/melodic/lib/nodelet/nodelet: symbol lookup error: /home/d/catkin_ws/devel/lib//librealsense2_camera.so: undefined symbol: _ZN2cv3MatC1EiiiRKNS_7Scalar_IdEE
  2. [camera/realsense2_camera_manager-2] process has died [pid 32532, exit code 127, cmd /opt/ros/melodic/lib/nodelet/nodelet manager __name:=realsense2_camera_manager __log:=/home/d/.ros/log/c8668552-b555-11ec-bd7d-38f3abe767d2/camera-realsense2_camera_manager-2.log].
  3. log file: /home/d/.ros/log/c8668552-b555-11ec-bd7d-38f3abe767d2/camera-realsense2_camera_manager-2*.log

 参考博客1 参考博客2

解决办法

（我在执行以下步骤之前曾安装了一个依赖项 sudo apt-get install ros-melodic-realsense2-camera ，但是并没有解决掉此问题，强烈建议先不要安装，下述步骤执行完了没用再安装这个依赖项试试）

1)在你的 realsense-ros的功能包文件夹下 realsense2_camera 文件夹下的 CmakeLists.txt文件中添加一些内容

打开终端输入

cd ~/catkin_ws/src/realsense-ros/realsense2_camera

打开CmakeLists.txt文件，在终端输入

gedit CMakeLists.txt

首先输入

locate OpenCVConfig.cmake

 然后在CmakeLists.txt文件中添加如下两处，1处的路径改成上面搜到的

  1. set(OpenCV_DIR /usr/local/share/OpenCV/)
  2. OpenCV REQUIRED

还要在CmakeLists.txt文件中添加 ${OpenCV_LIBS}

${OpenCV_LIBS}

按照 二、安装RealSense-ROS -> 3.编译 重新编译RealSense-ROS

2)运行相机节点，打开终端输入

roslaunch realsense2_camera rs_camera.launch

不报错了

再打开一个终端输入

rostopic list

可以查看当前发布的话题

 2.在rviz中测试相机

运行相机节点，打开终端输入

roslaunch realsense2_camera rs_camera.launch

再打开一个终端输入

rviz

在rviz界面中选择 Fixed Frame -> camera_link

之后点击左下角 Add 按钮，双击 Camera , Camera 出现在了左侧列表，点击下拉按钮，选择Image Topic -> /camera/color/image_raw ，左下角的相机有画面了。

若是相机依然没有画面，安装一个依赖项试试，我在解决掉错误2之前安装了这个

sudo apt-get install ros-melodic-realsense2-camera

至此，InterRealSenseD435i SDK2和RealSense-ROS安装测试完毕。

三、查看相机内参

1.运行相机节点

打开终端输入

roslaunch realsense2_camera rs_camera.launch

2.查看相机内参

再打开一个终端输入

rostopic echo /camera/color/camera_info

 相机内参查看完成

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