Ubuntu 16.04 + Realsense D435i + ROS 开发

Ubuntu 16.04 + Realsense D435i + ROS 开发
https://www.cnblogs.com/dinghongkai/p/11300167.html
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 最新 release 为 2.2.7，Supported 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 https://github.com/IntelRealSense/librealsense.git
或手动下载：https://github.com/IntelRealSense/librealsense/archive/master.zip
若有 realsense 连接，先unplug，安装依赖
sudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
ubuntu 16.04
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 https://github.com/IntelRealSense/realsense-ros.git
cd realsense-ros/
git checkout git tag | sort -V | grep -P "^\d+\.\d+\.\d+" | tail -1
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