建议使用ROS官方网的步骤 melodic/Installation/Ubuntu - ROS Wiki
一定要看清楚版本 ubuntu18 是 melodic
2.1依赖
sudo apt-get install cmake
sudo apt-get install libgoogle-glog-dev
sudo apt-get install libatlas-base-dev
sudo apt-get install libeigen3-dev
sudo apt-get install libsuitesparse-dev
sudo add-apt-repository ppa:bzindovic/suitesparse-bugfix-1319687
sudo apt-get update
sudo apt-get install libsuitesparse-dev
2.2安装
git clone https://github.com/ceres-solver/ceres-solver.git
cd ceres-solver
mkdir build
cd build
cmake ..
make -j
sudo make install
1.注册公钥:
sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
2、添加包仓库列表
sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u
3.添加库
sudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev
sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils
sudo apt-get install librealsense2-dev
sudo apt-get install librealsense2-dbg
4.运行脚本
git clone https://github.com/IntelRealSense/librealsense
cd librealsense
./scripts/setup_udev_rules.sh
5.编译
mkdir build
cd build
cmake ../ -DBUILD_EXAMPLES=true
make -j
sudo make install
mkdir -p ~/VINS_FUSION_ws/src
cd ~/VINS_FUSION_ws/src/
git clone https://github.com/IntelRealSense/realsense-ros.git
git clone https://github.com/pal-robotics/ddynamic_reconfigure.git
cd ~/VINS_FUSION_ws
catkin_make clean
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
catkin_make install
cd
echo "source ~/VINS_FUSION_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
测试realsense_ros:
roslaunch realsense2_camera rs_camera.launch
cd ~/VINS_FUSION_ws/src
git clone https://github.com/HKUST-Aerial-Robotics/VINS-Fusion.git
cd ../
catkin_make
echo "source ~/VINS_FUSION_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
4.1.1
进入VINS-FUSION/config/,复制realsense-d435i这个文件夹并改名为realsense-d455。
4.1.2
进入realsense-d455并修改realsense_stereo_imu_config.yaml
image_width:848
4.1.3
修改left.yaml和right.yaml:
image_width:848
进入到VINS_FUSION_ws/src/realsense-ros/realsense2_camera/launch/中打开rs_camera.launch,并修改成:
打开新终端:
roslaunch realsense2_camera rs_camera.launch
打开新终端:
roslaunch vins vins_rviz.launch
打开新终端:
rosrun vins vins_node ~/VINS_FUSION_ws/src/VINS-Fusion/config/realsense_d455/realsense_stereo_imu_config.yaml