【ROS2+深度相机】在Ubuntu安装realsense-ros

主要参考： https://github.com/IntelRealSense/realsense-ros

安装步骤

Step 1: Install the ROS2 distribution

Step 2: Install latest Intel® RealSense™ SDK 2.0

Step 3: Install ROS Wrapper for Intel® RealSense™ cameras

1 安装ROS

fishros一键安装脚本

讲解见：《ROS 2机器人开发从入门到实践》1.2.4 在Ubuntu中安装ROS2_哔哩哔哩_bilibili

bash 复制代码

wget http://fishros.com/install -O fishros && bash fishros

2 RealSense™ SDK 2.0

Nvida Jetson - use the Jetson Installation Guide

Linux: Linux Debian Installation Guide

2.1 以linux为例：

注册服务器的公钥：

bash 复制代码

sudo mkdir -p /etc/apt/keyrings
curl -sSf https://librealsense.intel.com/Debian/librealsense.pgp | sudo tee /etc/apt/keyrings/librealsense.pgp > /dev/null
sudo apt-get install apt-transport-https

添加安装列表

bash 复制代码

echo "deb [signed-by=/etc/apt/keyrings/librealsense.pgp] https://librealsense.intel.com/Debian/apt-repo `lsb_release -cs` main" | \
sudo tee /etc/apt/sources.list.d/librealsense.list
sudo apt-get update

安装内核驱动

bash 复制代码

sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils

2.2 验证安装

2.2. 1查看设备信息

bash 复制代码

rs-enumerate-devices

串口号可能在一些

2.2. 2英特尔官方UI

bash 复制代码

realsense-viewer

3.realsnse-ros

3.1 安装

其中，humble是版本，

bash 复制代码

sudo apt install ros-humble-realsense2-*
#通用安装法
sudo apt install ros-${ROS_DISTRO}-realsense2-camera

ros的版本有

3.2 使用

https://github.com/IntelRealSense/realsense-ros?tab=readme-ov-file#example

使用ros2 run启动

bash 复制代码

ros2 run realsense2_camera realsense2_camera_node
# 
ros2 run realsense2_camera realsense2_camera_node --ros-args -p enable_color:=false -p spatial_filter.enable:=true -p temporal_filter.enable:=true
# 修改相机命名空间

ros2 run realsense2_camera realsense2_camera_node --ros-args -r __node:=D455_1 -r __ns:=/robot1

使用realsense启动

bash 复制代码

ros2 launch realsense2_camera rs_launch.py
ros2 launch realsense2_camera rs_launch.py depth_module.depth_profile:=1280x720x30 pointcloud.enable:=true

3.3 ros2 topic list

~/realsense-ros$ ros2 topic list

/camera/camera/color/camera_info

/camera/camera/color/image_raw

/camera/camera/color/metadata

/camera/camera/depth/camera_info

/camera/camera/depth/image_rect_raw

/camera/camera/depth/metadata

/camera/camera/extrinsics/depth_to_color

/camera/camera/extrinsics/depth_to_infra1

/camera/camera/extrinsics/depth_to_infra2

/camera/camera/infra1/camera_info

/camera/camera/infra1/image_rect_raw

/camera/camera/infra1/metadata

/camera/camera/infra2/camera_info

/camera/camera/infra2/image_rect_raw

/camera/camera/infra2/metadata

/parameter_events

/rosout

/tf_static