自己买的还没到，借的同学，生怕给他搞坏了。
安装过程就按照ref3进行。记录一下踩的坑。坑的顺序为安装过程的顺序。
err1:
- catkin_make报错：
missing dependency with ddynamic_reconfigure- solve ref: apt-get update && apt-get install ros-kinetic-ddynamic-reconfigure
err2:
- roslaunch报错：
ResourceNotFound: rgbd_launch- solve ref：sudo apt-get install ros-kinetic-rgbd-launch
err3:
- error:
‘usleep’ was not declared in this scope usleep(5000);- solve ref.
err4:
- rospack found package “ORB_SLAM2” at “”, but the current
directory is “/home/fb/D453I/ORB_SLAM2/Examples/ROS/ORB_SLAM2”.- 环境变量要添加在最后一行，脑补程序，按照顺序扫描的：
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/fb/D453I/ORB_SLAM2/Examples/ROS/ORB_SLAM2
err5：
/usr/lib/x86_64-linux-gnu/libboost_system.so: error adding symbols: DSO missing from command line collect2: error: ld returned 1 exit status- solve ref:
in CMakeList.txt, add lines like below (replace {{target_name}} to your own):
find_package(Boost COMPONENTS system filesystem REQUIRED) target_link_libraries({{target_name}} ${Boost_FILESYSTEM_LIBRARY}) target_link_libraries({{target_name}} ${Boost_SYSTEM_LIBRARY})
具体在ORB_SLAM2的CMakeLists.txt中：
find_package(Eigen3 REQUIRED)
find_package(Pangolin REQUIRED)
find_package(Boost COMPONENTS system filesystem REQUIRED)#添加
include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/../../../
${PROJECT_SOURCE_DIR}/../../../include
${Pangolin_INCLUDE_DIRS}
)
set(LIBS
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so
${Boost_FILESYSTEM_LIBRARY}#添加
${Boost_SYSTEM_LIBRARY}#添加
)
err6:
- 相机打开报错：
ERROR [140171878061824] (types.h:304) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: No such file or directory- solve ref1
- solve ref2
依然没有解决，但是不影响使用，只是每次关掉相机后就得将数据线两头拔掉重新连接，很是恼火，不知道是不是这个权限的原因。
结果：
Realsense SDK 2.0 Ubuntu 16.04 安装指导网址
Realsense SDK 2.0 Win10 安装程序网址
Realsense D415/D435 SDK示例程序
Ros官网给出的Realsense D400系列示例程序
相机校准API和Tools（Win10）
Realsense 官方文档集合（包含了许多API说明文档，但很多是针对SDK1.0的，请注意区分）
Realsense D415/D435 相关下载页面（包含了许多文档、固件、SDK软件）
Realsense D400系列最新固件下载（含固件升级程序）
github上关于Realsense的Troubleshooting Q&A
Realsense交流社区
Realsense在移动机器人上的应用（官网实例）
Realsense SDK 2.0 API编程示例（很实用的API讲解）
只是做了安装，后面再玩儿，还了还了。同时发现相机畸变有点大需要自己标定一下。