realsense D435使用配置

# realsense D435
## windows安装使用指南
https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_windows.md

- 使用Intel.RealSense.Viewer //查看rgb图和深度图

## linux安装使用指南
https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md

realsense-viewer  //查看rgb图和深度图
rs-enumerate-devices | grep Serial  //查看相机的serial_number，每个相机均不同

### ROS Wrapper 
https://github.com/IntelRealSense/realsense-ros

sudo apt-get install ros-melodic-rgbd-launch  //rgbd-launch

roscore 
roslaunch realsense2_camera rs_camera.launch  //相机节点，将传感器采集的数据以ros topic形式发布
//or
roslaunch realsense2_camera rs_rgbd.launch   //RGBD
rviz

rosrun rqt_reconfigure rqt_reconfigure   //Dynamic Reconfigure Params

#### Work with multiple cameras
rs-enumerate-devices | grep Serial  //查看相机的serial_number，每个相机均不同
roslaunch realsense2_camera rs_multiple_devices.launch serial_no_camera1:= _serial_number_1 serial_no_camera2:=_serial_number_2   // 启动两个相机


### 虚拟机中使用
参考: https://blog.youkuaiyun.com/qq_43536313/article/details/109691518 
- 虚拟机中使用，需将虚拟机的USB控制器-USB兼容性 配置成USB3.0;

### 其它参考
- RealSense D435 在ROS kinetic 下的配置 https://blog.youkuaiyun.com/qq_34935373/article/details/104891420
- d435相机驱动安装并安装对应ros包 https://blog.youkuaiyun.com/weixin_45668016/article/details/108412144
- Intel RealSense D435介绍、安装和使用
https://blog.youkuaiyun.com/cherry_yu08/article/details/83279851

### 掉线问题及解决
- 关于D435 USB掉线问题  https://blog.youkuaiyun.com/Dontla/article/details/99292928
- - 延长线不能太长；
- - 更新固件
- - 尝试使用工业级USB线(解决信号干扰问题)
- - 尝试使用有源USB线(解决摄像头供电问题)