realsense d435i SDK及ROS Wrapper安装

1 安装Realsense SDK

git clone https://github.com/IntelRealSense/librealsense
cd librealsense
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
mkdir build
cd build
cmake ../ -DBUILD_EXAMPLES=true
make
sudo make install 
# 启动
realsense-viewer

2 安装 ROS Wrapper

mkdir -p ~/realsense_ws/src
cd ~/realsense_ws/src/
catkin_init_workspace 
cd ..
catkin_make
# source ~/realsense_ws/devel/setup.zsh
echo "source ~/realsense_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

cd ~/realsense_ws/src/
git clone https://github.com/pal-robotics/ddynamic_reconfigure.git
git clone https://github.com/IntelRealSense/realsense-ros.git

cd ..
catkin_make

# 运行
# (1)发布图片
roslaunch realsense2_camera rs_camera.launch
/camera/color/image_raw
# (2)发布点云
roslaunch realsense2_camera rs_camera.launch filters:=pointcloud
    /camera/depth/color/points
# (3)发布彩色深度图
roslaunch realsense2_camera rs_camera.launch filters:=colorizer

#提示cmakelist文件find target failed 解决
1.realsense-viewer 打开查看驱动
2.修改cmakelist文件中的版本 2.42.0

参考链接

https://blog.csdn.net/chengchang1234/article/details/117603781