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Ubuntu系统d435i相机驱动与realsense-ros安装_相机驱动之前需要安装ros,安装过程见我之前

作者：数据灵魂 | 2024-02-04 19:31:31

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相机驱动之前需要安装ros,安装过程见我之前

  1. 安装Realsense SDK（如仅仅在ROS中使用相机，该步骤可有可无，直接进行第二步ROS包的安装即可）

  1. 下载安装包。打开终端，运行命令：

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

  1. 更新该包的依赖库

  1. cd librealsense
  2. sudo apt-get update && sudo apt-get upgrade && sudo apt-get dist-upgrade

  1. 安装依赖库

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

  1. 安装SDK

  1. mkdir build
  2. cd build
  3. cmake ../ -DBUILD_EXAMPLES=true
  4. make
  5. sudo make install

  1. 添加相机USB权限（不知道是不是必要，我第一次安装用了）

复制以下内容：

  1. ##Version=1.1##
  2. # Device rules for Intel RealSense devices (R200, F200, SR300 LR200, ZR300, D400, L500, T200)
  3. SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0a80", MODE:="0666", GROUP:="plugdev", RUN+="/usr/local/bin/usb-R200-in_udev"
  4. SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0a66", MODE:="0666", GROUP:="plugdev"
  5. SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0aa3", MODE:="0666", GROUP:="plugdev"
  6. SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0aa2", MODE:="0666", GROUP:="plugdev"
  7. SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0aa5", MODE:="0666", GROUP:="plugdev"
  8. SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0abf", MODE:="0666", GROUP:="plugdev"
  9. SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0acb", MODE:="0666", GROUP:="plugdev"
  10. SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad0", MODE:="0666", GROUP:="plugdev"
  11. SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="04b4", MODE:="0666", GROUP:="plugdev"
  12. SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad1", MODE:="0666", GROUP:="plugdev"
  13. SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad2", MODE:="0666", GROUP:="plugdev"
  14. SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad3", MODE:="0666", GROUP:="plugdev"
  15. SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad4", MODE:="0666", GROUP:="plugdev"
  16. SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad5", MODE:="0666", GROUP:="plugdev"
  17. SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad6", MODE:="0666", GROUP:="plugdev"
  18. SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0af2", MODE:="0666", GROUP:="plugdev"
  19. SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0af6", MODE:="0666", GROUP:="plugdev"
  20. SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0afe", MODE:="0666", GROUP:="plugdev"
  21. SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0aff", MODE:="0666", GROUP:="plugdev"
  22. SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b00", MODE:="0666", GROUP:="plugdev"
  23. SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b01", MODE:="0666", GROUP:="plugdev"
  24. SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b03", MODE:="0666", GROUP:="plugdev"
  25. SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b07", MODE:="0666", GROUP:="plugdev"
  26. SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b0c", MODE:="0666", GROUP:="plugdev"
  27. SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b0d", MODE:="0666", GROUP:="plugdev"
  28. SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3a", MODE:="0666", GROUP:="plugdev"
  29. SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3d", MODE:="0666", GROUP:="plugdev"
  30. SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b48", MODE:="0666", GROUP:="plugdev"
  31. SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b49", MODE:="0666", GROUP:="plugdev"
  32. SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4b", MODE:="0666", GROUP:="plugdev"
  33. SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4d", MODE:="0666", GROUP:="plugdev"
  34. SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b52", MODE:="0666", GROUP:="plugdev"
  35. SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5b", MODE:="0666", GROUP:="plugdev"
  36. SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5c", MODE:="0666", GROUP:="plugdev"
  37. SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b64", MODE:="0666", GROUP:="plugdev"
  38. SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b68", MODE:="0666", GROUP:="plugdev"
  39.  
  40. # Intel RealSense recovery devices (DFU)
  41. SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ab3", MODE:="0666", GROUP:="plugdev"
  42. SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0adb", MODE:="0666", GROUP:="plugdev"
  43. SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0adc", MODE:="0666", GROUP:="plugdev"
  44. SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b55", MODE:="0666", GROUP:="plugdev"
  45.  
  46. # Intel RealSense devices (Movidius, T265)
  47. SUBSYSTEMS=="usb", ENV{DEVTYPE}=="usb_device", ATTRS{idVendor}=="8087", ATTRS{idProduct}=="0af3", MODE="0666", GROUP="plugdev"
  48. SUBSYSTEMS=="usb", ENV{DEVTYPE}=="usb_device", ATTRS{idVendor}=="8087", ATTRS{idProduct}=="0b37", MODE="0666", GROUP="plugdev"
  49. SUBSYSTEMS=="usb", ENV{DEVTYPE}=="usb_device", ATTRS{idVendor}=="03e7", ATTRS{idProduct}=="2150", MODE="0666", GROUP="plugdev"
  50.  
  51. KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad5", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
  52. DRIVER=="hid_sensor_custom", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad5", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
  53. KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0af2", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
  54. DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0af2", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
  55. KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0afe", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
  56. DRIVER=="hid_sensor_custom", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0afe", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
  57. KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0aff", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
  58. DRIVER=="hid_sensor_custom", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0aff", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
  59. KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b00", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
  60. DRIVER=="hid_sensor_custom", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b00", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
  61. KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b01", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
  62. DRIVER=="hid_sensor_custom", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b01", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
  63. KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3a", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
  64. DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3a", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
  65. KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3d", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
  66. DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3d", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
  67. KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4b", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
  68. DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4b", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
  69. KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4d", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
  70. DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4d", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
  71. KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5b", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
  72. DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5b", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
  73. KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5c", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
  74. DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5c", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
  75. KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b64", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
  76. DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b64", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
  77. KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b68", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
  78. DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b68", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
  79.  
  80. # For products with motion_module, if (kernels is 4.15 and up) and (device name is "accel_3d") wait, in another process, until (enable flag is set to 1 or 200 mSec passed) and then set it to 0.
  81. KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad5|0afe|0aff|0b00|0b01|0b3a|0b3d|0b64|0b68", RUN+="/bin/sh -c '(major=`uname -r | cut -d \".\" -f1` && minor=`uname -r | cut -d \".\" -f2` && (([ $major -eq 4 ] && [ $minor -ge 15 ]) || [ $major -ge 5 ])) && (enamefile=/sys/%p/name && [ `cat $enamefile` = \"accel_3d\" ]) && enfile=/sys/%p/buffer/enable && echo \"COUNTER=0; while [ \$COUNTER -lt 20 ] && grep -q 0 $enfile; do sleep 0.01; COUNTER=\$((COUNTER+1)); done && echo 0 > $enfile\" | at now'"

打开终端，运行命令：

  1. cd /etc/udev/rules.d
  2. sudo touch 99-realsense-libusb.rules
  3. sudo gedit 99-realsense-libusb.rules

将剪切板上的代码复制到打开的文件内，保存退出即可。

  1. 重启，打开终端，运行命令：

sudo udevadm trigger

  1. 安装Realsense-ROS

  1. 建立workspace

  1. mkdir -p ~/catkin_ws/src
  2. cd ~/catkin_ws/src/
  3. catkin_init_workspace
  4. cd ..
  5. catkin_make
  6. echo "source ~/catkin_ws/devel/setup.bash">>~/.bashrc
  7. source ~/.bashrc

  1. 下载源程序

  1. cd src/
  2. git clone https://github.com/IntelRealSense/realsense-ros.git
  3. git clone https://github.com/pal-robotics/ddynamic_reconfigure.git

  1. 编译程序（编译前先clean）

若出现编译错误（plain cmake）,则按照下面步骤进行即可：

  1. cd realsense-ros/
  2. git checkout 'git tag | sort -V | grep -P "^2.\d+\.\d+" | tail -1'
  3. cd ~/catkin_ws
  4. catkin_make clean
  5. catkin_make

至此，realsense-ros安装完成，可以roslauch来启动相机节点

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