Intel RealSense Depth Camera D435安装ROS 驱动——Ubuntu16.04

官方教程

软件包下载链接

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

Download/Clone librealsense github repository:

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

Install the core packages required to build librealsense binaries and the affected kernel modules:

sudo apt--dev pkg-config libgtk--devsudo apt-get install libglfw3-dev

Run Intel Realsense permissions script located from librealsense root directory:

./scripts/setup_udev_rules.sh

1、Add Intel server to the list of repositories :

echo 'deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main' | sudo tee /etc/apt/sources.list.d/realsense-public.list

It is recommended to backup /etc/apt/sources.list.d/realsense-public.list file in case of an upgrade.

2、Register the server’s public key :

sudo apt-key adv --keyserver keys.gnupg.net --recv-key 6F3EFCDE

3、Refresh the list of repositories and packages available :

sudo apt-get update

4、In order to run demos install:

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

The above two lines will deploy librealsense2 udev rules, kernel drivers, runtime library and executable demos and tools. Reconnect the Intel RealSense depth camera and run:

 realsense-viewer

5、Developers shall install additional packages:

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

• With dev package installed, you can compile an application with librealsense using g++ -std=c++11 filename.cpp -lrealsense2 or an IDE of your choice.
• Verify that the kernel is updated :
  modinfo uvcvideo | grep "version:" should include realsense string

modinfo uvcvideo | grep "version:"