Ubuntu 16.04 + Realsense D435i + ROS 環境配置

 

參考：

[1] Realsense-Ros: https://github.com/IntelRealSense/realsense-ros#installation-instructions

[2] librealsense: https://github.com/IntelRealSense/librealsense

注意：realsense-ros 要和 librealsense 版本匹配，realsense-ros 2.2.7 對應的 Realsense SDK 為 librealsense 2.24 .0

 

 

 

1. 源碼安裝 librealsense

參考：https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md

• 更新系統

sudo apt-get update && sudo apt-get upgrade && sudo apt-get dist-upgrade

• 下載源碼
  • git 下載

git clone -b v2.24.0 https://github.com/IntelRealSense/librealsense.git

• • 或手動下載：https://github.com/IntelRealSense/librealsense/archive/master.zip
• 安裝依賴，若有 realsense 連接，先unplug

sudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev

sudo apt-get install libglfw3-dev

• 安裝包根目錄，run Intel Realsense permissions script

./scripts/setup_udev_rules.sh

• Download, patch and build realsense-affected kernel modules (drivers)

./scripts/patch-realsense-ubuntu-lts.sh

• 編譯安裝

mkdir build && cd build

cmake ../ -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=true

sudo make uninstall && make clean && make -j8 && sudo make install

The shared object will be installed in /usr/local/lib, header files in /usr/local/include.
The binary demos, tutorials and test files will be copied into /usr/local/bin

 

2. 源碼編譯 realsense-ros

•  創建工作空間

mkdir -p ~/catkin_ws/src && cd ~/catkin_ws/src

• 下載源碼，並檢查依賴

git clone -b 2.2.7 https://github.com/IntelRealSense/realsense-ros.git
cd realsense-ros/realsense2_camera
git checkout `git tag | sort -V | grep -P "^\d+\.\d+\.\d+" | tail -1`

sudo apt-get install ros-kinetic-ddynamic-reconfigure

• 編譯

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
source ~/.bashrc

• 啟動相機節點

roslaunch realsense2_camera rs_camera.launch