文章目录Realsense ROS驱动安装1 系统环境及安装准备2 安装Realsense SDK3 安装Realsense ROS4 异常问题(1) 异常问题1(2) 异常问题2Realsense ROS驱动安装1 系统环境及安装准备系统Ubuntu18.04ROSMelodic视觉传感器Intel RealSense D435i需要安装两个文件librealsense官方sdklibrealsense-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-getupdatesudoapt-getupgradesudoapt-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_EXAMPLEStruemakesudomakeinstall# 测试cdexamples/capture ./rs-capture# 打开realsense-viewerrealsense-viewer3 安装Realsense ROS# 建立workspacemkdir-p~/catkin_ws/srccd~/catkin_ws/src/ catkin_init_workspacecd..catkin_makeechosource ~/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_wscatkin_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-control4 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