Ubuntu20.04LTS下安装Intel Realsense D435i驱动与ROS运行D435i节点

1：RealSense的SDK安装

1.1：更新初始化

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

1.2：注册服务器的公钥

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE

1.3：将服务器添加到存储库列表中

sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u

1.4：安装SDK

sudo apt-get install librealsense2-dkms

sudo apt-get install librealsense2-utils

1.5：安装dev和debug工具（optional）

sudo apt-get install librealsense2-dev

sudo apt-get install librealsense2-dbg

1.6：测试安装结果

realsense-viewer 

2：ROS源代码安装

2.1：ubuntu下创建工作空间

mkdir -p ~/catkin_ws/src

cd ~/catkin_ws/src/

2.2：git下来realsense包到这个空间

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

git clone https://github.com/pal-robotics/ddynamic_reconfigure.git

cd realsense-ros/
git checkout `git tag | sort -V | grep -P "^2.\d+\.\d+" | tail -1`

2.3：编译安装

cd ..
catkin_init_workspace

cd ..
catkin_make clean

catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release

catkin_make install

2.4：添加

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

2.5：启动

roslaunch realsense2_camera rs_camera.launch

2.6：查看相机的节点

rostopic list

2.7：启动rviz

rviz

设置成：camera_link

添加image

显示的图像

2.8：安装rgbd-launch，形成3D点云图像

rgbd_launch是一组打开RGBD设备，并load 所有nodelets转化 raw depth/RGB/IR 流到深度图(depth image), 视差图(disparity image)和点云(point clouds)的launch文件集。

sudo apt-get install ros-noetic-rgbd-launch

2.9：测试编译结果：

roslaunch realsense2_camera demo_pointcloud.launch