本人电脑Ubuntu16.04 Ros 为kinetic
D435可以用的ros源码下载地址 https://github.com/intel-ros/realsense/releases一定要仔细查看每一个版本基于的sdk的版本号
D435的SDK源码的下载地址 https://github.com/IntelRealSense/librealsense/releases。也可以选择ros包后在包的详情下有Supported RealSense SDK下所给出的连接下载对应版本的SDK源码。
一SDK的源码安装
SDK可以通过编译安装(1. mkdir build 2.cd build 3. cmake .. 4. make 5. sudo make install(开始没加sudo出现了错误) )
二 通过源码安装intel RealSense ROS(安装和使用可参考github: https://github.com/intel-ros/realsense)
1.创建catkin工作空间
2.
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src/
3.将下载的源码复制到'catkin_ws/src/'
4
catkin_init_workspace
cd ..
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
5.使用
1)开始相机节点
roslaunch realsense2_camera rs_camera.launch
2)RGBD点云
roslaunch realsense2_camera rs_rgbd.launch
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