ubuntu安装realsense

1.安装RealSense SDK

    GitHub:https://github.com/IntelRealSense/librealsense

在/home下创建一个文件夹并将librealsense压缩包中的文件解压在其中，这里暂且将其命名为:librealsense

在/home下进入 librealsense 并且安装依赖项

cd librealsense
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

安装依赖项和编译

sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && udevadm trigger
mkdir build
cd build
cmake ../ -DBUILD_EXAMPLES=true
make
sudo make install

测试时候安装成功

realsense-viewer

2.安装real的ROS包

创建工作空间

cd ~
mkdir catkin_ws
cd catkin_ws
mkdir src

安装

git clone https://github.com/IntelRealSense/realsense-ros.git
 
git clone https://github.com/pal-robotics/ddynamic_reconfigure.git
或者使用
sudo apt install ros-noetic-ddynamic-reconfigure
安装ddynamic_reconfigure
卸载时使用sudo apt-get purge ros-noetic-ddynamic-reconfigure
 

如果这里失败或是速度太慢可以使用下面gitee下载并解压在/catkin_ws/src中

catkin_make
 
cd ~/catkin_ws && catkin_make

新开一个终端

source devel/setup.bash
roslaunch realsense2_camera rs_camera.launch
 
//（roslaunch realsense2_camera demo_pointcloud.launch）