企业官网建设流程全解析

Realsense ROS驱动安装

1 系统环境及安装准备

• 系统：Ubuntu18.04
• ROS：Melodic
• 视觉传感器：Intel RealSense D435i

需要安装两个文件：

• librealsense（官方sdk）
• librealsense-ros（基于sdk打包成ros的包）

2 安装Realsense SDK

# 下载安装包gitclone https://github.com/IntelRealSense/librealsense.gitcdlibrealsense# 更新依赖库sudoapt-getupdate&&sudoapt-getupgrade&&sudoapt-getdist-upgrade# 安装依赖库sudoapt-getinstalllibudev-dev pkg-config libgtk-3-devsudoapt-getinstalllibusb-1.0-0-dev pkg-configsudoapt-getinstalllibglfw3-devsudoapt-getinstalllibssl-dev# 运行Intel Realsense许可脚本./scripts/setup_udev_rules.sh# 下载并编译内核模块./scripts/patch-realsense-ubuntu-lts.sh# 编译SDK2.0cdlibrealsensemkdirbuildcdbuild cmake../-DBUILD_EXAMPLES=truemakesudomakeinstall# 测试cdexamples/capture ./rs-capture# 打开realsense-viewerrealsense-viewer

3 安装Realsense ROS

# 建立workspacemkdir-p~/catkin_ws/srccd~/catkin_ws/src/ catkin_init_workspacecd..catkin_makeecho"source ~/catkin_ws/devel/setup.bash">>~/.bashrcsource~/.bashrc# 在catkin_ws/src/下载源程序cdsrcgitclone https://github.com/IntelRealSense/realsense-ros.gitgitclone https://github.com/pal-robotics/ddynamic_reconfigure.git# catkin_make编译cd~/catkin_ws&&catkin_make# 测试roslaunch realsense2_camera demo_pointcloud.launch# 其他测试## 查看发布的topicrostopic list## 查看相机内参# 方法一rostopicecho/camera/color/camera_info rostopicecho/camera/aligned_depth_to_color/camera_info 注：aligned_depth_to_color是指已经将深度信息通过相机到RGBD的外参映射到彩色图像上# 方法二rs-sensor-control

4 异常问题

(1) 异常问题1

问题描述：

Resource not found: rgbd_launch ROS path[0]=/opt/ros/melodic/share/ros ROS path[1]=/home/gipsy/catkin_ws/src ROS path[2]=/opt/ros/melodic/share The tracebackforthe exception was written to the logfile

报错原因：

进行该launch命令时，找不到rgbd_launch相关的功能包依赖。

解决方案：

# 安装依赖sudoapt-getinstallros-melodic-rgbd-launch

(2) 异常问题2

问题描述：

/opt/ros/melodic/lib/nodelet/nodelet: symbol lookup error: /home/d/catkin_ws/devel/lib//librealsense2_camera.so: undefined symbol: _ZN2cv3MatC1EiiiRKNS_7Scalar_IdEE[camera/realsense2_camera_manager-2]process has died[pid32532,exitcode127, cmd /opt/ros/melodic/lib/nodelet/nodelet manager __name:=realsense2_camera_manager __log:=/home/d/.ros/log/c8668552-b555-11ec-bd7d-38f3abe767d2/camera-realsense2_camera_manager-2.log]. log file: /home/d/.ros/log/c8668552-b555-11ec-bd7d-38f3abe767d2/camera-realsense2_camera_manager-2*.log

报错原因：

找不到功能包依赖

解决方案：

（1）方案一：

# 在CMakeLists.txt中添加依赖vim~/catkin_ws/src/realsense-ros/realsense2_camera/CMakeLists.txt

在CmakeLists.txt文件中添加${OpenCV_LIBS}

${OpenCV_LIBS}

（2）方案二：

# 安装依赖包sudoapt-getinstallros-melodic-realsense2-camera