ROS系统——ROS、realsense-ros的安装配置流程
1 系统要求
- Ubuntu 18.04
- Linux内核版本不超过5.4
2 ROS安装方法（melodic版）
1、添加ROS软件源（TX2使用自带源即可，该步可省去）
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
2、添加公钥
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
3、更新
确保包索引是最新的：
sudo apt update
检查cmake的版本，尽量升级到最新版本：https://blog.csdn.net/RNG_uzi_/article/details/107016899
4、安装ros
这里介绍桌面完整版（推荐）: 包含 ROS、rqt、rviz、机器人通用库、2D/3D 模拟器、导航以及 2D/3D 感知包， 其他参考官方网站。
sudo apt install ros-melodic-desktop-full
5、初始化 rosdep
sudo rosdep init
rosdep update
备注：上述两条命名可能报错：
sudo rosdep init错误
ERROR：cannot download default sources list from:
https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
Website may be down
解决办法1
打开hosts文件sudo gedit /etc/hosts#在文件末尾添加151.101.84.133 raw.githubusercontent.com#保存后退出再尝试
备注：raw.githubusercontent.com的其他IP访问地址，可以通过http://tool.chinaz.com/dns网站查询，选择ping最小值那个IP地址。
解决办法2
sudo c_rehash /etc/ssl/certssudo -E rosdep initrosdep update
如果还是提示错误，请将源更更换为清华源，然后sudo apt update
(请将网络换成手机热点)
rosdep update出错
reading in sources list data from /etc/ros/rosdep/sources.list.d
ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml]:
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
ERROR: error loading sources list:
The read operation timed out
运行：（网络换成手机热点，如果是time out，那就多尝试几次）
sudo apt-get updatesudo apt-get install python-rosdep
6、设置环境
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
7、安装rosinstall,便利的工具
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential
使用下面命令安装ROS插件（包括3D包围框）
sudo apt install ros-melodic-jsk-rviz-plugins
8、检验安装
打开终端，输入roscore命令，可以看到ROS已经成功在ubuntu上运行起来。
卸载melodic的方法
sudo apt-get remove ros-melodic-*ROS安装主要参考：https://www.guyuehome.com/10082
其他可能遇到的问题及其解决方案：
-
18.04 安装ros 出现 ERROR: cannot download default sources list from: https://raw.githubusercontent.com/......：https://blog.csdn.net/qq_35822136/article/details/106320587
-
Ubuntu18.04 ROS填坑之 roscore Command ‘roscore‘ not found: https://blog.csdn.net/jdx130/article/details/107647324
-
Resource not found: rgbd_launch 解决方案：https://blog.csdn.net/Hacker_MAI/article/details/108009916
3 realsense-ros安装
安装方法参照官网：https://github.com/IntelRealSense/realsense-ros 中方法1（使用apt-get直接安装)
3. 1 apt install 安装方式
#18.04 直接安装
$export ROS_VER=melodic
#16.04
$export ROS_VER=kinetic
安装realsense2-camera
$sudo apt-get install ros-$ROS_VER-realsense2-camera(This will install both realsense2_camera and its dependents, including librealsense2 library.)
- The version of librealsense2 is almost always behind the one availeable in RealSense™ official repository.
- librealsense2 is not built to use native v4l2 driver but the less stable RS-USB protocol. That is because the last is more general and operational on a larger variety of platforms.
- realsense2_description is available as a separate debian package of ROS distribution. It includes the 3D-models of the devices and is necessary for running launch files that include these models (i.e. rs_d435_camera_with_model.launch). It can be installed by typing:
sudo apt-get install ros-$ROS_VER-realsense2-description
3. 2 源码下载的安装方式
3.2.1 需要先安装 SDK
https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md#installing-the-packages
3.2.2 源码下载
$mkdir -p ~/catkin_ws/src
$cd ~/catkin_ws/src/
$git clone https://github.com/IntelRealSense/realsense-ros.git
$cd realsense-ros/ git checkout `git tag | sort -V | grep -P "^2.\d+\.\d+" | tail -1`
$cd ..
$catkin_init_workspace
$cd ..
$catkin_make clean
$catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
$catkin_make install
3.3 测试：
- 将realsense相机插入主机
- 新建终端，并执行：roslaunch realsense2_camera rs_camera.launch
- 再新建一个终端，并执行：rviz
- 在弹出的rviz软件中，左下角有个‘Add’，然后在弹框中选择‘By topic’，如果能看到camera数据源，表示成功安装。