基于ros打开realsense摄像头

最新推荐文章于 2025-03-17 17:02:45 发布

ustczhng2012

最新推荐文章于 2025-03-17 17:02:45 发布

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分类专栏：摄像头文章标签： ros realsense

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本文详细指导了如何在Ubuntu 18.04上安装ROS Melodic，包括设置源、添加软件包、配置环境变量，并介绍了如何安装Realsense SDK和realsense_ros，以及必要的设置步骤，确保用户能够顺利运行和调试视觉传感器应用。

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安装ROS

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
# 如果出现找不到有效的 OpenPGP 数据，就分开执行，访问网址，将内容保存到ros.asc后，再sudo apt-key add ros.asc
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
# 更新过程中如果出现某个源没有Release文件，则是网络运营商问题，更换网络运营商
sudo apt update
sudo apt install ros-melodic-desktop-full
# 注意melodic这里是ubuntu18.04的版本
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc

Ubuntu18.04安装ROS Melodic（详细，亲测安装完成，有清晰的截图步骤）_mango-优快云博客

安装realsense sdk 2.0

export http_proxy="http://<proxy>:<port>"
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u
sudo apt-get install librealsense2-utils 
sudo apt-get install librealsense2-dev

安装realsense_ros

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src/
git clone https://github.com/IntelRealSense/realsense-ros.git
cd realsense-ros/
git checkout `git tag | sort -V | grep -P "^2.\d+\.\d+" | tail -1`
cd ..
catkin_init_workspace
cd ..
#-------------------------------------------------------------------
# 1.需要下载下面这些源码放在src/目录下
    # git clone https://github.com/ros-perception/vision_opencv
    # git clone https://github.com/pal-robotics/ddynamic_reconfigure
# 2.出现Could not find the following Boost libraries解决方法如下
    # find /usr/lib -name  libboost_python* （假设搜索到的路径是/usr/lib/x86_64-linux-gnu/）
    # cd /usr/lib/x86_64-linux-gnu/
    # sudo ln -s libboost_python-py36.so libboost_python37.so
# 3.出现/usr/include/python2.7/numpy/__multiarray_api.h:1537:144: error: return-statement with no value, in function returning ‘void*’ [-fpermissive]
    # 这个问题是由于cv_bridge用了python2来编译，我们需要把python版本改成python3
    # 打开cv_bridge包中的CMakeLists.txt，然后在find_package(PythonLibs)前面添加以下两句话
    # set(PYTHON_NUMPY_INCLUDE_DIR ~/.local/lib/python3.6/site-packages/numpy/core/include)
    # set(PYTHON_INCLUDE_DIR /usr/include/python3.6)
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

roslaunch realsense2_camera rs_camera.launch
rosrun rviz rviz
- 需要安装sudo apt install ros-melodic-rosbash; sudo apt-get install ros-melodic-rviz
- 在rviz中为了能看到图像，要调制一下参数
  - fixed frame->camera_link
  - add->by topic->color->image raw->image