Ubuntu 16.04安装realsense D435i SDK以及realsense-ros

先直接上一个报错信息，折腾了半天才解决

在使用catkin_make编译realsense-ros时，报错

-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 4 packages in topological order:
-- ~~  - realsense_camera_msgs (plain cmake)
-- ~~  - ddynamic_reconfigure
-- ~~  - realsense2_camera (plain cmake)
-- ~~  - realsense2_node (plain cmake)
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkin_workspace.cmake:95 (message):
  This workspace contains non-catkin packages in it, and catkin cannot build
  a non-homogeneous workspace without isolation.  Try the
  'catkin_make_isolated' command instead.
Call Stack (most recent call first):
  CMakeLists.txt:67 (catkin_workspace)

-- Configuring incomplete, errors occurred!

解决方案

在下载完realsense-ros源码后，不要运行以下两行指令

cd realsense-ros/realsense2_camera 

git checkout `git tag | sort -V | grep -P "^\d+\.\d+\.\d+" | tail -1`

直接进行后续的指令，问题解决。
 

下面就是正常安装realsense D435i SDK以及realsense-ros的步骤

1. 安装librealsense

• 下载源码（指定2.24.0版本，为了与realsense-ros版本匹配）

git clone -b v2.24.0 https://github.com/IntelRealSense/librealsense.git

• 安装依赖（拔掉realsense连接）

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

sudo apt-get install libglfw3-dev

• 安装realsense所需的内核模块

cd librealsense

./scripts/setup_udev_rules.sh

./scripts/patch-realsense-ubuntu-lts.sh
#这一条命令执行会比较慢，我是配置了Ubuntu终端翻墙因此速度快一些

• 编译安装

mkdir build && cd build

cmake ../ -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=true

sudo make uninstall && make clean && make -j8 && sudo make install

•  测试

#打开终端输入以下指令
realsense-viewer

到此librealsense安装完成 

2. 安装realsense-ros

• 创建ros工作空间

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

• 下载源码并检查依赖（指定2.2.7版本，与librealsense版本匹配）

git clone -b 2.2.7 https://github.com/IntelRealSense/realsense-ros.git
 
cd realsense-ros/realsense2_camera 

git checkout `git tag | sort -V | grep -P "^\d+\.\d+\.\d+" | tail -1`

sudo apt-get install ros-kinetic-ddynamic-reconfigure

• 编译

cd ~/realsense_ws

catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release 

catkin_make install 

echo "source ~/realsense_ws/devel/setup.bash" >> ~/.bashrc 

source ~/.bashrc

• 测试

roslaunch realsense2_camera rs_camera.launch

rostopic list
#查看话题列表

rviz
#打开rviz订阅几个节点就可以看到效果

到此realsense-ros安装完成，所有关于realsense的驱动都已经安装完了