Ubuntu 16.04 + Realsense D435i + ROS 环境配置

参考：

[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 对应的 Realsense SDK 为 librealsense 2.24 .0

1. 源码安装 librealsense

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

• 更新系统

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

• 下载源码
  • git 下载

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

• • 或手动下载：https://github.com/IntelRealSense/librealsense/archive/master.zip
• 安装依赖，若有 realsense 连接，先unplug

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

sudo apt-get install libglfw3-dev

• 安装包根目录，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

• 编译安装

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. 源码编译 realsense-ros

• 创建工作空间

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

• 下载源码，并检查依赖

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 -`

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

• 编译

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

• 启动相机节点

roslaunch realsense2_camera rs_camera.launch