rk3399 pro安装realsense-ros

一、安装SDK

• 1、根据这里增加swap内存
• 2、安装依赖

sudo apt-get update && sudo apt-get upgrade && sudo apt-get dist-upgrade
sudo apt-get install git cmake libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev

• 3、获取源码：git clone https://github.com/IntelRealSense/librealsense.git
  或者git clone https://gitee.com/awake658/librealsense
• 4、编译安装

mkdir build && cd build
cmake ../ -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=true -DFORCE_RSUSB_BACKEND=ON -DBUILD_WITH_TM2=false -DIMPORT_DEPTH_CAM_FW=false
make clean && make
sudo make install

• 5、设置udev规则：sudo ./scripts/setup_udev_rules.sh

二、安装realsense-ros

• 1、获取源码：git clone https://github.com/IntelRealSense/realsense-ros
  或者git clone https://gitee.com/awake658/realsense-ros
• 2、因为ros是源码安装，缺包，需要：git clone https://github.com/pal-robotics/ddynamic_reconfigure放在相同目录
• 3、catkin_make
• 4、source devel/setup.bash && roslaunch realsense2_camera rs_camera.launch就可以看到图像的topic了

三、参考

树莓派4整合Intel Realsense深度相机