Ubuntu18.04+ROS Melodic+D435i环境配置

安装环境
系统：Ubuntu18.04 +ROS Melodic
深度相机：Intel RealSense - D435i

一、源码安装 librealsense

注意事项：realsense-ros 要和 librealsense 版本匹配，比如 realsense-ros V2.3.0 支持的 Realsense SDK 为 librealsense V2.48 .0

1.更新系统（在工作空间外进行即可）

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

2.下载源码

git clone -b v2.48.0 https://github.com/IntelRealSense/librealsense.git
cd librealsense

3.安装依赖（断开D435i连接）

sudo apt-get install libudev-dev pkg-config libgtk-3-dev
sudo apt-get install libusb-1.0-0-dev pkg-config
sudo apt-get install libglfw3-dev
sudo apt-get install libssl-dev

4.安装权限脚本

sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && udevadm trigger 

5.编译安装（librealsense文件夹内进行）

mkdir build
cd build
cmake ../ -DBUILD_EXAMPLES=true
make
sudo make install

6.测试
进入librealsense/build/examples/capture，测试：

./rs-capture 

或直接使用realsense-viewer工具查看效果（得到如下效果）：

realsense-viewer

二、源码安装RealSense-ROS

1.创建工作空间

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

2.下载源码，并检查依赖

git clone https://github.com/IntelRealSense/realsense-ros.git
git clone https://github.com/pal-robotics/ddynamic_reconfigure.git
cd ~/catkin_ws 
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc 
source ~/.bashrc
catkin_make

3.测试：

roslaunch realsense2_camera rs_camera.launch
# 查看发布的话题
rostopic list

参考：https://zhuanlan.zhihu.com/p/93127918