本篇帖子主要是用来给我自己做一个记录的笔记经常有一些指令忘记所以就记录在这里。本人所用的环境为ubuntu22.04睿尔曼RM65傲意AP002Intel D435i头部相机腕部相机目录一、D435i调取深度图二、真机可视化使用ros2版本调取可视化环境一、D435i调取深度图1. 安装 RealSense 工具sudo apt install -y wget gnupg lsb-release apt-transport-httpssudo mkdir -p /etc/apt/keyringscurl -sSf https://librealsense.realsenseai.com/Debian/librealsenseai.asc | gpg --dearmor | sudo tee /etc/apt/keyrings/librealsenseai.gpg /dev/nullecho deb [signed-by/etc/apt/keyrings/librealsenseai.gpg] https://librealsense.realsenseai.com/Debian/apt-repo $(lsb_release -cs) main | sudo tee /etc/apt/sources.list.d/librealsense.listsudo apt updatesudo apt install -y librealsense2-dkms librealsense2-utils librealsense2-devrs-enumerate-devices2.调出视频查看器realsense-viewer二、真机可视化使用ros2版本调取可视化环境调取环境source /opt/ros/humble/setup.bashsource ~/ros2_ws/install/setup.bash运行仿真可视化ros2 launch rm_bringup rm_65_bringup.launch.py