RealSense.md

intel Real Sense 深度相机

系统环境：

• Ubuntu18.04.5 LTS aarch64
• Kernel 4.9.140-tegra
• ROS melodic 1.14.11

硬件：

• Jetson Xaiver NX / NUC / EPYC
• intel D435i & D455

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驱动安装

Download tar.gz
Github librealsense

cd librealsense [tab]

#下面建议touch scripts 来自动化
sudo apt update && sudo apt -y upgrade
sudo apt-get install -y git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
sudo apt-get install -y libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev
sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && udevadm trigger
mkdir build && cd build
cmake ../ -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=true
sudo make uninstall
make clean
make ##不能多核编译，会报错(应该是内存不足原因)
sudo make install

测试

realsense-viewer 

ROS包安装

Github: realsense-ros

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

git clone https://github.com/IntelRealSense/realsense-ros.git

cd ..

# 缺少ddynamic
sudo apt install ros-melodic-ddynamic-reconfigure

catkin_make

source devel/setup.bash

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

测试

roslaunch realsense2_camera rs_camera.launch filters:=pointcloud

rviz

需要把 Global Options 中修改为 /camera_link

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