【RealSense】Ubuntu20.04 安装 Intel RealSense ROS 并使用 D435i 测试
- 1 本机环境
- 2 安装流程
- 3 存在的 bug
- 3.1 Resource not found: rgbd_launch
1 本机环境
- Ubuntu20.04
- ROS Noetic
2 安装流程
参考文档: Link
-
安装 Intel® RealSense™ SDK 2.0，参考上一篇文章: Link
-
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