realsense驱动安装见上篇博文。
1.通过源码安装intel RealSense ROS
1.创建catkin工作空间
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src/
2.将下载的源码复制到’catkin_ws/src/’
catkin_init_workspace
cd ..
catkin_make clean
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
catkin_make install
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
3.使用
1)开始相机节点
roslaunch realsense2_camera rs_camera.launch
2)RGBD点云
roslaunch realsense2_camera rs_rgbd.launch
遇见的问题:
failed to load node....
解决办法:
将所运行的两个launch文件中的<arg name="enable_pointcloud" default="true"/>
由false改为true
![在这里插入图片描述](https://img-blog.csdnimg.cn/20181228183007458.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3h1MTEyOTAwNTE2NQ==,size_16,color_FFFFFF,t_70)
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