realsense t265测试中的一些小问题

realsense t265测试中出现的一些小问题

环境：Ubuntu18.04
内核：5.4
官方教程：https://github.com/IntelRealSense/realsense-ros/

测试过程是根据官方教程走的，中间会出现一些小问题，在这里记录。

step1：安装realsense sdk，推荐用debian软件包安装，跟教程就可以

step2：安装realsense-ros，在官方教程页面里有。

在这一步中运行catkin_make相关命令时，会出现

CMake Error at realsense-ros/realsense2_camera/CMakeLists.txt:48 (message):
  

  

   Intel RealSense SDK 2.0 is missing, please install it from https://github.com/IntelRealSense/librealsense/releases

这样一个错误，有两个可能的原因，一个是cmakelists文件中查找的sdk版本与系统安装的sdk版本不一致导致的，可以根据安装的sdk版本到cmakelists文件中修改；另一个原因可能时由于没有安装librealsense2，执行以下命令

sudo apt-get install librealsense2-dev

安装即可解决上述问题。

step3：运行rc_t265.launch文件测试相机

在这个过程中，会出现这样一个错误

[ERROR] [1621048523.167745870]: The requested device with device name containing t265 is NOT found. Will Try again.

应该是由于电脑没有识别到t265的端口，这是由于我在上一步安装librealsense2包的时候没有断开相机连接，断开重插相机后找到相机。但是在查看topic时，发现只有以下topic

king@KING-PC:~$ rostopic list
/camera/accel/imu_info
/camera/accel/sample
/camera/gyro/imu_info
/camera/gyro/sample
/camera/odom/sample
/camera/realsense2_camera_manager/bond
/camera/tracking_module/parameter_descriptions
/camera/tracking_module/parameter_updates
/diagnostics
/rosout
/rosout_agg
/tf
/tf_static

没有image相关的话题，通过查看launch文件，发现文件中enable_fisheye1和enable_fisheye2的值都是false，修改为true，然后重新编译包，再次运行该launch文件，通过查看topic

king@KING-PC:~$ rostopic list 
/camera/accel/imu_info
/camera/accel/sample
/camera/fisheye1/camera_info
/camera/fisheye1/image_raw
/camera/fisheye1/image_raw/compressed
/camera/fisheye1/image_raw/compressed/parameter_descriptions
/camera/fisheye1/image_raw/compressed/parameter_updates
/camera/fisheye1/image_raw/compressedDepth
/camera/fisheye1/image_raw/compressedDepth/parameter_descriptions
/camera/fisheye1/image_raw/compressedDepth/parameter_updates
/camera/fisheye1/image_raw/theora
/camera/fisheye1/image_raw/theora/parameter_descriptions
/camera/fisheye1/image_raw/theora/parameter_updates
/camera/fisheye2/camera_info
/camera/fisheye2/image_raw
/camera/fisheye2/image_raw/compressed
/camera/fisheye2/image_raw/compressed/parameter_descriptions
/camera/fisheye2/image_raw/compressed/parameter_updates
/camera/fisheye2/image_raw/compressedDepth
/camera/fisheye2/image_raw/compressedDepth/parameter_descriptions
/camera/fisheye2/image_raw/compressedDepth/parameter_updates
/camera/fisheye2/image_raw/theora
/camera/fisheye2/image_raw/theora/parameter_descriptions
/camera/fisheye2/image_raw/theora/parameter_updates
/camera/gyro/imu_info
/camera/gyro/sample
/camera/odom/sample
/camera/realsense2_camera_manager/bond
/camera/tracking_module/parameter_descriptions
/camera/tracking_module/parameter_updates
/diagnostics
/rosout
/rosout_agg
/tf
/tf_static

可以看到关于图像和imu的topic都发布出来了。
测试结束。