文章目录
- Realsense ROS驱动安装
- 1 系统环境及安装准备
- 2 安装Realsense SDK
- 3 安装Realsense ROS
- 4 异常问题
-
Realsense ROS驱动安装
1 系统环境及安装准备
- 系统:Ubuntu18.04
- ROS:Melodic
- 视觉传感器:Intel RealSense D435i
需要安装两个文件:
- librealsense(官方sdk)
- librealsense-ros(基于sdk打包成ros的包)
2 安装Realsense SDK
git clone https://github.com/IntelRealSense/librealsense.git
cd librealsense
sudo apt-get update && sudo apt-get upgrade && sudo apt-get dist-upgrade
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
./scripts/setup_udev_rules.sh
./scripts/patch-realsense-ubuntu-lts.sh
cd librealsense
mkdir build
cd build
cmake ../ -DBUILD_EXAMPLES=true
make
sudo make install
cd examples/capture
./rs-capture
realsense-viewer
3 安装Realsense ROS
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src/
catkin_init_workspace
cd ..
catkin_make
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
cd src
git clone https://github.com/IntelRealSense/realsense-ros.git
git clone https://github.com/pal-robotics/ddynamic_reconfigure.git
cd ~/catkin_ws && catkin_make
roslaunch realsense2_camera demo_pointcloud.launch
rostopic list
rostopic echo /camera/color/camera_info
rostopic echo /camera/aligned_depth_to_color/camera_info
注:aligned_depth_to_color是指已经将深度信息通过相机到RGBD的外参映射到彩色图像上
rs-sensor-control
4 异常问题
(1) 异常问题1
问题描述:
Resource not found: rgbd_launch
ROS path [0]=/opt/ros/melodic/share/ros
ROS path [1]=/home/gipsy/catkin_ws/src
ROS path [2]=/opt/ros/melodic/share
The traceback for the exception was written to the log file
报错原因:
进行该launch命令时,找不到rgbd_launch相关的功能包依赖。
解决方案:
sudo apt-get install ros-melodic-rgbd-launch
(2) 异常问题2
问题描述:
/opt/ros/melodic/lib/nodelet/nodelet: symbol lookup error: /home/d/catkin_ws/devel/lib//librealsense2_camera.so: undefined symbol: _ZN2cv3MatC1EiiiRKNS_7Scalar_IdEE
[camera/realsense2_camera_manager-2] process has died [pid 32532, exit code 127, cmd /opt/ros/melodic/lib/nodelet/nodelet manager __name:=realsense2_camera_manager __log:=/home/d/.ros/log/c8668552-b555-11ec-bd7d-38f3abe767d2/camera-realsense2_camera_manager-2.log].
log file: /home/d/.ros/log/c8668552-b555-11ec-bd7d-38f3abe767d2/camera-realsense2_camera_manager-2*.log
报错原因:
找不到功能包依赖
解决方案:
(1)方案一:
vim ~/catkin_ws/src/realsense-ros/realsense2_camera/CMakeLists.txt
在CmakeLists.txt文件中添加 ${OpenCV_LIBS}
${OpenCV_LIBS}
(2)方案二:
sudo apt-get install ros-melodic-realsense2-camera
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