深度相机 D435

TIP

已购买无人机的用户此步可以跳过，无人机搭载的环境已全部配置妥当

RealSense SDK 安装

官方教程

注册服务器的公钥

sudo mkdir -p /etc/apt/keyrings
curl -sSf https://librealsense.intel.com/Debian/librealsense.pgp | sudo tee /etc/apt/keyrings/librealsense.pgp > /dev/null

安装依赖

sudo apt-get install apt-transport-https

将服务器添加到存储库列表中

echo "deb [signed-by=/etc/apt/keyrings/librealsense.pgp] https://librealsense.intel.com/Debian/apt-repo `lsb_release -cs` main" | \
sudo tee /etc/apt/sources.list.d/librealsense.list
sudo apt-get update

安装库、开发包、调试包

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

安装完成后使用realsense-viewer可以验证是否安装成功

安装 RealSense ROS

ROS1的realsense-ros官方教程

sudo apt-get install ros-noetic-realsense2-camera
sudo apt-get install ros-noetic-realsense2-description

创建一个工作空间

mkdir -p ~/realsense_ws/src
cd ~/realsense_ws/src/

克隆仓库并切换分支

git clone https://github.com/IntelRealSense/realsense-ros.git
cd realsense-ros/
git checkout `git tag | sort -V | grep -P "^2.\d+\.\d+" | tail -1`
cd ..

安装ros包ddynamic_reconfigure

sudo apt install ros-noetic-ddynamic-reconfigure

编译安装

catkin_init_workspace
cd ..
catkin_make clean
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
catkin_make install

设置环境变量

echo "source ~/realsense_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

使用zsh需要放入.zshrc

启动

roslaunch realsense2_camera rs_camera.launch

使用rqt_image_view可以查看到画面

d435还可以使用

roslaunch realsense2_camera rs_d435_camera_with_model.launch