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1.1录制imu bag包创建一个my_rs_camera.launch，把arg name=“enable_gyro” default=“true”/arg name=“enable_accel” default=“true”/arg name=“unite_imu_method” default=“linear_interpolation”/然后roslaunch realsense2_camera my_rs_camera.launch

realsensed435查看固件https://dev.intelrealsense.com/docs/firmware-releasesrs-fw-update -lrs-fw-update -s 902512070936 -f Signed_Image_UVC_5_11_11_100.bin安装固件安装推荐sdk2.38.1版本的