安装Intel Realsense D435i驱动与ROS包报错

1.下载安装realsense SDK

1.1 安装依赖

sudo apt install libudev-dev pkg-config libgtk-3-dev
sudo apt install libusb-1.0-0-dev pkg-config
sudo apt install libglfw3-dev
sudo apt install libssl-dev

1.2 权限

cd librealsense/
sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && udevadm trigger

1.3  编译

mkdir build
cd build
cmake ..
make -j4
sudo make install

1.4 验证是否成功

cd librealsense/
realsense-viewer

显示如下界面则表示安装成功。

 使用docker安装的时候需要在运行docker容器的时候将对应的video加进去（docker run -it的时候加上--device=/dev/videoX:/dev/videoX，X是数字，例如--device=/dev/video4:/dev/video4），不然可能找不到相机。

2.安装RealSense-ROS

1.下载安装

mkdir -p realsense_ws/src
cd realsense_ws/src
git clone https://github.com/IntelRealSense/realsense-ros.git
git clone https://github.com/pal-robotics/ddynamic_reconfigure.git
cd ..
catkin_make

ERROR:CMake Error at /opt/ros/noetic/share/catkin/cmake/catkin_workspace.cmake:100 (message):
  This workspace contains non-catkin packages in it, and catkin cannot build
  a non-homogeneous workspace without isolation.  Try the
  'catkin_make_isolated' command instead.

这个错误表示realsense2_camera_msgs、realsense2_description、realsense2_camera不能被catkin_make编译，找了半天原因才发现是因为git clone下的realsense-ros是ros2支持的，要切换成ros分支才行，可使用git branch查看在哪个分支。

mkdir -p realsense_ws/src
cd realsense_ws/src
git clone https://github.com/IntelRealSense/realsense-ros.git
cd realsense-ros/
git checkout `git tag | sort -V | grep -P "^2.\d+\.\d+" | tail -1`
cd ..
git clone https://github.com/pal-robotics/ddynamic_reconfigure.git
cd ..
catkin_make
catkin_make install

 2.测试是否安装成功

cd realsense_ws/
source devel/setup.bash
roslaunch realsense2_camera rs_camera.launch

或者新开终端使用rostopic list查看是否有相机信息，需要可视化的话可以用rviz查看。