目录

前言

安装要求

一、安装使用 InterRealSenseD435i SDK2

1.注册服务器的公钥：

2.将服务器添加到存储库列表中：

3.安装库：

4.安装开发者和调试包：

5.测试SDK2

二、安装RealSense-ROS

1.创建ROS工作空间

2.下载realsense-ros安装包和ddynamic_reconfigure包放在src文件夹下,采用源码下载

3.编译

4.测试

三、查看相机内参

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前言

本文写于2022年4月7日，在经历了两天的配置环境，心里从最初拿到相机的高兴，逐渐烦躁，碰到种种问题，再到最后终于解决了种种问题后，决定写博客记录下来，话不多说，开始吧。

安装要求

1.Ubuntu版本为18.04

2.安装了ROS melodic

本人ubuntu小白一枚，不知道在安装 RealSense-ROS 之前要安装 Ubuntu18.04 对应的ROS melodic，在没装ROS之前安装 RealSense-ROS 总会出现一个报错

-- Could not find the required component 'ddynamic_reconfigure'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by
  "ddynamic_reconfigure" with any of the following names:

    ddynamic_reconfigureConfig.cmake
    ddynamic_reconfigure-config.cmake

  Add the installation prefix of "ddynamic_reconfigure" to CMAKE_PREFIX_PATH
  or set "ddynamic_reconfigure_DIR" to a directory containing one of the
  above files.  If "ddynamic_reconfigure" provides a separate development
  package or SDK, be sure it has been installed.
Call Stack (most recent call first):
  realsense/realsense2_camera/CMakeLists.txt:8 (find_package)


-- Configuring incomplete, errors occurred!
See also "/home/bruce/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/bruce/catkin_ws/build/CMakeFiles/CMakeError.log".
Makefile:1536: recipe for target 'cmake_check_build_system' failed
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed

我是已经下载了ddynamic_reconfigure的package，放在了指定文件夹下，依然会报上述错误，此时我意识到了，我没有安装ROS，开始安装ROS，安装ROS的详细步骤请看我的这篇博客Ubuntu18.04安装Ros Melodic，接下来，开始安装。

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一、安装使用 InterRealSenseD435i SDK2

在这里我是采用命令行的安装方式安装，参考官方安装教程

1.注册服务器的公钥：

打开终端输入

sudo apt-key adv --keyserver keys.gnupg.net --recv-key C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCDE

2.将服务器添加到存储库列表中：

在终端里输入

sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u

3.安装库：

在终端里输入

sudo apt-get install librealsense2-dkms

sudo apt-get install librealsense2-utils

4.安装开发者和调试包：

在终端里输入

sudo apt-get install librealsense2-dev

sudo apt-get install librealsense2-dbg

5.测试SDK2

把相机与电脑上的USB3.0口相连后（不是USB3.0口可能会出问题），打开终端输入

realsense-viewer

 左侧三个开关从上到下依次是深度，RGB以及IMU，都能打开后出现以上图片，说明SDK2安装成功了。（之前安装过一次，第三个IMU按钮打不开，然后重新安装了一遍，IMU就可以打开了）

---

二、安装RealSense-ROS

参考官方教程

1.创建ROS工作空间

参考此篇博客

1.创建catkin_ws

1)创建src文件夹，放置功能包源码

打开终端输入

mkdir -p ~/catkin_ws/src

如果之前已经创建好了此文件夹，可以从以下步骤开始

2)进入src文件夹

打开终端输入

cd ~/catkin_ws/src

3)初始化文件夹

在终端里输入

catkin_init_workspace

这样就在src文件中创建了一个 CMakeLists.txt 的文件，目的是告诉系统，这个是ROS的工作空间。

2.下载realsense-ros安装包和ddynamic_reconfigure包放在src文件夹下,采用源码下载

两个包都下载到 ~/catkin_ws/src 文件夹下

1下载realsense-ros安装包

在终端里输入

#原来的链接（最近似乎添加了新的东西，原来的链接下载后东西变了）
git clone https://github.com/IntelRealSense/realsense-ros.git

#新的链接
git clone https://github.com/IntelRealSense/realsense-ros/tree/ros1-legacy.git

2下载ddynamic_reconfigure包

在终端里输入

git clone https://github.com/pal-robotics/ddynamic_reconfigure.git

如果缺少ddynamic_reconfigure包，将会在编译阶段报以下错误

-- Could not find the required component 'ddynamic_reconfigure'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by
  "ddynamic_reconfigure" with any of the following names:

    ddynamic_reconfigureConfig.cmake
    ddynamic_reconfigure-config.cmake

  Add the installation prefix of "ddynamic_reconfigure" to CMAKE_PREFIX_PATH
  or set "ddynamic_reconfigure_DIR" to a directory containing one of the
  above files.  If "ddynamic_reconfigure" provides a separate development
  package or SDK, be sure it has been installed.
Call Stack (most recent call first):
  realsense/realsense2_camera/CMakeLists.txt:8 (find_package)


-- Configuring incomplete, errors occurred!
See also "/home/bruce/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/bruce/catkin_ws/build/CMakeFiles/CMakeError.log".
Makefile:1536: recipe for target 'cmake_check_build_system' failed
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed

3.编译

所有编译工作都要在 ~/catkin_ws 文件夹下编译

在终端里输入

cd ~/catkin_ws

catkin_make clean

catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release

catkin_make install

echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc

注：把我们工作空间的环境变量设置到bash中

source ~/.bashrc

注：让上面的配置在当前的终端生效

4.测试

1.测试相机发布的话题

运行相机节点，打开终端输入

roslaunch realsense2_camera rs_camera.launch

报出错误1

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 traceback for the exception was written to the log file

参考此篇博客

根本原因是在进行该launch命令时，找不到rgbd_launch相关的功能包依赖，打开终端输入

sudo apt-get install ros-melodic-rgbd-launch

再次运行相机节点，打开终端输入

roslaunch realsense2_camera rs_camera.launch

报出错误2

/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 [pid 32532, exit code 127, 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

 参考博客1 参考博客2

解决办法

（我在执行以下步骤之前曾安装了一个依赖项 sudo apt-get install ros-melodic-realsense2-camera ，但是并没有解决掉此问题，强烈建议先不要安装，下述步骤执行完了没用再安装这个依赖项试试）

1)在你的 realsense-ros的功能包文件夹下 realsense2_camera 文件夹下的 CmakeLists.txt文件中添加一些内容

打开终端输入

cd ~/catkin_ws/src/realsense-ros/realsense2_camera

打开CmakeLists.txt文件，在终端输入

gedit CMakeLists.txt

首先输入

locate OpenCVConfig.cmake

 然后在CmakeLists.txt文件中添加如下两处，1处的路径改成上面搜到的

set(OpenCV_DIR /usr/local/share/OpenCV/)
OpenCV REQUIRED

还要在CmakeLists.txt文件中添加 ${OpenCV_LIBS}

${OpenCV_LIBS}

按照 二、安装RealSense-ROS -> 3.编译 重新编译RealSense-ROS

2)运行相机节点，打开终端输入

roslaunch realsense2_camera rs_camera.launch

不报错了

再打开一个终端输入

rostopic list

可以查看当前发布的话题

 2.在rviz中测试相机

运行相机节点，打开终端输入

roslaunch realsense2_camera rs_camera.launch

再打开一个终端输入

rviz

在rviz界面中选择 Fixed Frame -> camera_link

之后点击左下角 Add 按钮，双击 Camera , Camera 出现在了左侧列表，点击下拉按钮，选择Image Topic -> /camera/color/image_raw ，左下角的相机有画面了。

若是相机依然没有画面，安装一个依赖项试试，我在解决掉错误2之前安装了这个

sudo apt-get install ros-melodic-realsense2-camera

至此，InterRealSenseD435i SDK2和RealSense-ROS安装测试完毕。

三、查看相机内参

1.运行相机节点

打开终端输入

roslaunch realsense2_camera rs_camera.launch

2.查看相机内参

再打开一个终端输入

rostopic echo /camera/color/camera_info

 相机内参查看完成