【RealSense】Ubuntu20.04 安装 Intel RealSense ROS 并使用 D435i 测试

1 本机环境

• Ubuntu20.04
• ROS Noetic

2 安装流程

参考文档: Link

1. 安装 Intel® RealSense™ SDK 2.0，参考上一篇文章: Link

2. 从源码安装 Intel® RealSense™ ROS

• 创建 catkin 工作空间

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

• Clone 最新的 Intel® RealSense™ ROS

git clone https://github.com/IntelRealSense/realsense-ros.git
cd realsense-ros/
git checkout `git tag | sort -V | grep -P "^2.\d+\.\d+" | tail -1`
cd ..

• 确保已安装 ros 软件包 ddynamic_reconfigure

sudo apt install ros-noetic-ddynamic-reconfigure

• 编译并安装

catkin_init_workspace
cd ..
catkin_make clean
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
catkin_make install

• 测试

roslaunch realsense2_camera rs_camera.launch

rviz

3 存在的 bug

3.1 Resource not found: rgbd_launch

运行 roslaunch realsense2_camera rs_rgbd.launch 时报错如下:

Resource not found: rgbd_launch
ROS path [0]=/opt/ros/noetic/share/ros
ROS path [1]=/home/chenhui/workspace/realsense_ws/src
ROS path [2]=/opt/ros/noetic/share
The traceback for the exception was written to the log file

解决方法:

参考 issue: Llink

sudo apt install ros-noetic-rgbd-launch