realsense-ros安装

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本文主要介绍了realsense-ros的安装步骤，包括创建catkin工作空间、克隆文件到src下以及在ros中使用realsense的操作。还说明了安装DFU并升级固件的方法，需连接摄像头、下载bin文件，同时给出了相关参考链接。

一、realsense-ros安装
1.Create a catkin workspace

mkdir -p realsense_rosws/src
cd realsense_rosws/src
catkin_init_workspace

2.clone realsense-ros文件下到src下

cd realsense_rosws
catkin_make clean
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
catkin_make install
echo "source /home/hong/ROS/realsense_rosws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

3.ros使用realsense

sudo apt-get install ros-kinetic-rgbd-launch
roscore
roslaunch realsense2_camera rs_rgbd.launch
rivz
#roslaunch realsense2_camera rs_camera.launch
#roslaunch realsense2_camera rs_camera.launch filters:=pointcloud

左上角 Displays 中 Fixed Frame 选项中，下拉菜单选择 camera_link
这是主要到Global Status变成了绿色
点击该框中的Add -> 上方点击 By topic -> /depth_registered 下的 /points 下的/PointCloud2
点击该框中的Add -> 上方点击 By topic -> /color 下的 /image_raw 下的image

二、安装DFU，升级固件
连接摄像头，下载bin文件,参考：https://downloadcenter.intel.com/download/28237/Latest-Firmware-for-Intel-RealSense-D400-Product-Family?v=t
进行固件更新:

#Register the server's public key :
sudo apt-key adv --keyserver keys.gnupg.net --recv-key C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCDE
#16LTS:
sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u
sudo rm -f /etc/apt/sources.list.d/realsense-public.list
sudo apt-get update
sudo apt-get install dfu*
sudo apt-get install dfu
sudo apt-get install intel-realsense-dfu
lsusb #(看一下对应的device号)
intel-realsense-dfu -b 002 -d 002 -f -i ./Signed_Image_UVC_5_10_13_0.bin
#(注意修改对应的-b 和 -d 后面的数字，以及bin的版本号)

参考自：
https://github.com/IntelRealSense/realsense-ros
https://blog.youkuaiyun.com/riancy_riancy/article/details/83270836
https://blog.youkuaiyun.com/Carminljm/article/details/86353775
https://blog.youkuaiyun.com/u012926144/article/details/80761342
https://www.jianshu.com/p/bcb6778c5152
http://www.pianshen.com/article/7847152734/