jetson xavier nx 安装D435i

1，Realsense sdk安装

git clone https://github.com/jetsonhacks/installRealSenseSDK

下载，运行，有的可能需要sudo

./installLibrealsense.sh

realsense-viewer查看结果

卸载realsense Remove all RealSense™ SDK-related packages with:

dpkg -l | grep "realsense" | cut -d " " -f 3 | xargs sudo dpkg --purge

源码安装 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

在这里插入图片描述

源码安装Realsense ROS
下载源码并检查依赖（指定版本，与librealsense版本匹配）

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

mkdir -p ~/realsense_ros/src
cd ~/realsense_ros/src/
git clone -b 2.2.7 https://github.com/IntelRealSense/realsense-ros.git 
cd ~/realsense_ros
catkin_make clean
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
catkin_make install
echo "source ~/realsense_ros/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

查看rviz

注：https://blog.csdn.net/AnChenliang_1002/article/details/109454465
https://www.freesion.com/article/71881393951/