• Create a?catkin?workspace

mkdir -p ~/catkin_ws/src cd ~/catkin_ws/src/

• Clone the latest Intel? RealSense? ROS from?here?into ‘catkin_ws/src/’
  catkin_make類似與cmake，其實也是cmake在ROS下的封裝

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

注意：ROS下的軟件都應該放到src下編譯，上面命令執行前應該先把Intel RealSense ROS源碼下載到src目錄下，catkin_make是在catkin_ws目錄下，每次新catkin_make新代碼后用source ~/.bashrc更新工作環境
#使用方法

• Start the camera node，install rgbd_launch

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

安裝好后，執行

roslaunch realsense2_camera rs_camera.launch

• RGBD Point Cloud
  用topic depth registered發布RGBD點云

roslaunch realsense2_camera rs_rgbd.launch

• Set Camera Controls Using Dynamic Reconfigure Params

rosrun rqt_reconfigure rqt_reconfigure

總結

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