• 安裝ROS
  • sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' # 如果出現找不到有效的 OpenPGP 數據，就分開執行，訪問網址，將內容保存到ros.asc后，再sudo apt-key add ros.asc curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add - # 更新過程中如果出現某個源沒有Release文件，則是網絡運營商問題，更換網絡運營商 sudo apt update sudo apt install ros-melodic-desktop-full # 注意melodic這里是ubuntu18.04的版本 echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc source ~/.bashrc
  • Ubuntu18.04安裝ROS Melodic（詳細，親測安裝完成，有清晰的截圖步驟）_mango-CSDN博客
• 安裝realsense sdk 2.0
  • export http_proxy="http://<proxy>:<port>" sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u sudo apt-get install librealsense2-utils sudo apt-get install librealsense2-dev
• 安裝realsense_ros
  • mkdir -p ~/catkin_ws/src cd ~/catkin_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 .. catkin_init_workspace cd .. #------------------------------------------------------------------- # 1.需要下載下面這些源碼放在src/目錄下# git clone https://github.com/ros-perception/vision_opencv# git clone https://github.com/pal-robotics/ddynamic_reconfigure # 2.出現Could not find the following Boost libraries解決方法如下# find /usr/lib -name libboost_python* （假設搜索到的路徑是/usr/lib/x86_64-linux-gnu/）# cd /usr/lib/x86_64-linux-gnu/# sudo ln -s libboost_python-py36.so libboost_python37.so # 3.出現/usr/include/python2.7/numpy/__multiarray_api.h:1537:144: error: return-statement with no value, in function returning ‘void*’ [-fpermissive]# 這個問題是由于cv_bridge用了python2來編譯，我們需要把python版本改成python3# 打開cv_bridge包中的CMakeLists.txt，然后在find_package(PythonLibs)前面添加以下兩句話# set(PYTHON_NUMPY_INCLUDE_DIR ~/.local/lib/python3.6/site-packages/numpy/core/include)# set(PYTHON_INCLUDE_DIR /usr/include/python3.6) 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
• roslaunch realsense2_camera rs_camera.launch
• rosrun rviz rviz
  • 需要安裝sudo apt install ros-melodic-rosbash; sudo apt-get install ros-melodic-rviz
  • 在rviz中為了能看到圖像，要調制一下參數
    • fixed frame->camera_link
    • ?add->by topic->color->image raw->image

總結

以上是生活随笔為你收集整理的基于ros打开realsense摄像头的全部內容，希望文章能夠幫你解決所遇到的問題。

如果覺得生活随笔網站內容還不錯，歡迎將生活随笔推薦給好友。