1.直接運行

官方網站：Intel RealSense SDK 2.0 – Intel RealSense Depth and Tracking cameras

（1） x86運行

librealsense/distribution_linux.md at master · IntelRealSense/librealsense · GitHub

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-dkms sudo apt-get install librealsense2-utils

?（2）jeston 使用這種方式無cuda加速

NVIDIA Jetson installation

sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE

?ubuntu18.04

sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo bionic main" -u sudo apt-get install librealsense2-utils sudo apt-get install librealsense2-dev

?運行

realsense-viewer

2.源碼安裝

官網:Linux/Ubuntu - RealSense SDK 2.0 Build Guide

2.1.更新內核

運行代碼（4.4.0-50以上）

uname -r

2.2.更新cmake（需要3.6以上版本）

cmake -version

2.3.安裝gcc-c++(gcc 5.00以上):

gcc -v

3.安裝依賴

sudo apt-get install libusb-1.0-0-dev pkg-config libgtk-3-dev sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev

4下載安裝包

https://github.com/IntelRealSense/librealsense/tags

建議在上述網址選擇合適的版本進行安裝，測試2.49.0跑ros點云很卡，卸載安裝2.48.0

sudo git clone https://github.com/IntelRealSense/librealsense

?5.添加驅動(不插設備)

（1）x86運行

sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/ sudo udevadm control --reload-rules && udevadm trigger ./scripts/patch-realsense-ubuntu-lts.sh

?（2）arm運行

./scripts/patch-realsense-ubuntu-L4T.sh ./scripts/setup_udev_rules.sh

6.安裝Openssl庫：

sudo apt-get install libssl-dev

8.安裝編譯

cd librealsense/ sudo mkdir build cd build

（1） x86運行cmake(程序中有很多例子,若想編譯example,如無例子添加可省略，編譯點云-DBUILD_PCL_EXAMPLES=true)

cmake ../ -DBUILD_EXAMPLES=true sudo make && make install

（2）jeston 帶有cuda加速

cmake .. -DBUILD_EXAMPLES=true -DCMAKE_BUILD_TYPE=release -DFORCE_RSUSB_BACKEND=false -DBUILD_WITH_CUDA=true && make -j$(($(nproc)-1)) && sudo make install

?運行

~/Desktop/realsense_document/software/librealsense-2.48.0/build/examples/capture/rs-capture

9.ROS Realsense

https://github.com/IntelRealSense/realsense-ros/blob/development/README.md#installation-instructions

Releases · IntelRealSense/realsense-ros · GitHub

?創建工作空間在src中解壓下載的source文件

catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release catkin_make install

10.錯誤?

（1） ros在opencv之前安裝，導致重新安裝了opencv在cv_bridge中找opencv的默認路徑不一樣，所以要修改。

這里：/opt/ros/melodic/share/cv_bridge/cmake/cv_bridgeConfig.cmake

原來是這樣子：

?修改的內容是把 /usr/include/opencv 改為/usr/local/include/opencv4/opencv2，/usr/local/include/opencv4

下面set(libraries)也需要改。

set(libraries "cv_bridge;/usr/lib/libopencv_core.so.4.5.3;/usr/lib/libopencv_imgproc.so.4.5.3;/usr/lib/libopencv_imgcodecs.so.4.5.3")

（2）ddynamic_reconfigure

CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):Could not find a package configuration file provided by"ddynamic_reconfigure" with any of the following names:ddynamic_reconfigureConfig.cmakeddynamic_reconfigure-config.cmake

修改：

sudo apt install ros-melodic-rgbd-launch sudo apt-get install ros-melodic-ddynamic-reconfigure roslaunch realsense2_camera rs_camera.launch //realsense數據採集節點 roslaunch realsense2_camera rs_camera.launch filters:=pointcloud //點暈 roslaunch realsense2_camera rs_camera.launch filters:=pointcloud pointcloud_texture_stream:=RS2_STREAM_ANY enable_color:=false //完全無圖像只有點云，換為ture有圖像，非對齊后的，直接是圖像對其點云 rosrun image_view image_view image:=/camera/color/image_raw //系統自帶顯示 rosrun recive_rgb recive_rgbc //C++節點,在cmake與xml 要添加image_transfer rosrun recive_rgb src/recevi_rgb.py //python監聽節點 rosrun rqt_graph rqt_graph //節點關系圖 rosrun pcl_cloudc pcl_cloudc //點暈 roslaunch realsense2_camera rs_rgbd.launch// sudo gedit ~/.bashrc source /home/catkin_ws/devel/setup.bash source ~/.bashrc

(3) /opt/ros/kinetic/lib/nodelet/nodelet: symbol lookup error: /opt/ros/kinetic/lib//libexample_pkg.so: undefined symbol: _ZN2cv11namedwindowERKNS_6StringEi

?說明：undefined symbol: _ZN2后的字母，cv =opencv

在camera CMakeLists中添加下面

set(OpenCV_DIR /usr/local/lib) find_package( OpenCV REQUIRED )target_link_libraries(?${OpenCV_LIBS})

symbol lookup error: /home/llx/catkin_ws/markerlocalization/devel/lib//liblaneloc.so: undefined symbol: _ZN2tf17TransformListenerC1EN3ros8DurationEb
說明：tf的問題。

使用c++filt 查看報錯的位置： 終端輸入：

c++filt ?_ZN2tf17TransformListenerC1EN3ros8DurationEb

tf::TransformListener::TransformListener(ros::Duration, bool)
顯示這個

find_package（tf)

原文鏈接：https://blog.csdn.net/weixin_39608351/article/details/92843763

11.pcl_cloudc.cpp

說明：點云數據ros提取。

catkin_create_pkg pcl_cloudc cv_bridge image_transport pcl_conversions pcl_ros roscpp rospy sensor_msgs std_msgs #include <ros/ros.h> // PCL specific includes #include <sensor_msgs/PointCloud2.h> #include <pcl_conversions/pcl_conversions.h> #include <pcl/point_cloud.h> #include <pcl/point_types.h>#include <pcl/filters/voxel_grid.h>ros::Publisher pub;void cloud_cb (const sensor_msgs::PointCloud2ConstPtr& cloud_msg) {// Container for original & filtered datapcl::PCLPointCloud2* cloud = new pcl::PCLPointCloud2; pcl::PCLPointCloud2ConstPtr cloudPtr(cloud);pcl::PCLPointCloud2 cloud_filtered;// Convert to PCL data typepcl_conversions::toPCL(*cloud_msg, *cloud);// Perform the actual filteringpcl::VoxelGrid<pcl::PCLPointCloud2> sor;sor.setInputCloud (cloudPtr);sor.setLeafSize (0.1, 0.1, 0.1);sor.filter (cloud_filtered);// Convert to ROS data typesensor_msgs::PointCloud2 output;pcl_conversions::moveFromPCL(cloud_filtered, output);// Publish the datapub.publish (output); }int main (int argc, char** argv) {// Initialize ROSros::init (argc, argv, "my_pcl_tutorial");ros::NodeHandle nh;// Create a ROS subscriber for the input point cloudros::Subscriber sub = nh.subscribe<sensor_msgs::PointCloud2> ("/camera/depth/color/points", 1, cloud_cb);// Create a ROS publisher for the output point cloudpub = nh.advertise<sensor_msgs::PointCloud2> ("filtered_points", 1);// Spinros::spin (); }

CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2) project(pcl_cloudc) set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x") find_package(catkin REQUIRED COMPONENTScv_bridgeimage_transportpcl_conversionspcl_rosroscpprospysensor_msgsstd_msgs ) catkin_package() include_directories( # include${catkin_INCLUDE_DIRS} ) add_executable(pcl_cloudc src/pcl_cloudc.cpp) target_link_libraries(pcl_cloudc ${catkin_LIBRARIES})

package.xml添加：

<build_depend>libpcl-all-dev</build_depend>??

<exec_depend>libpcl-all</exec_depend>

（2） arm64行下面

12.recive_rgb

catkin_create_pkg recive_rgb cv_bridge roscpp rospy sensor_msgs image_transport std_msgs

recevice_rgb.cpp

#include <ros/ros.h> #include <image_transport/image_transport.h> #include <cv_bridge/cv_bridge.h> //OpenCV2標準頭文件#include<opencv2/core/core.hpp> #include<opencv2/highgui/highgui.hpp> #include <opencv2/imgcodecs.hpp>void imageCallback(const sensor_msgs::ImageConstPtr& msg) {try{cv::imshow("c++ show", cv_bridge::toCvShare(msg, "bgr8")->image);//展示圖片cv::waitKey(10);}catch (cv_bridge::Exception& e){ROS_ERROR("Could not convert from '%s' to 'bgr8'.", msg->encoding.c_str());} }int main(int argc, char **argv) {ros::init(argc, argv, "image_listener");ros::NodeHandle nh;cv::namedWindow("view");cv::startWindowThread();image_transport::ImageTransport it(nh);image_transport::Subscriber sub = it.subscribe("/camera/color/image_raw", 1, imageCallback);ros::spin();cv::destroyWindow("view"); }

?recevi_rgb.py

#!/usr/bin/env python import rospy from sensor_msgs.msg import Image import cv2 from cv_bridge import CvBridgedef callback(imgmsg):bridge = CvBridge()img = bridge.imgmsg_to_cv2(imgmsg, "bgr8")#print('******************')#print(img.shape)cv2.imshow("python show", img)cv2.waitKey(3)def listener():# In ROS, nodes are uniquely named. If two nodes with the same# node are launched, the previous one is kicked off. The# anonymous=True flag means that rospy will choose a unique# name for our 'listener' node so that multiple listeners can# run simultaneously.rospy.init_node('listener', anonymous=True)rospy.Subscriber("/camera/color/image_raw", Image, callback)# spin() simply keeps python from exiting until this node is stoppedrospy.spin() if __name__ == '__main__':listener()

CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2) project(recive_rgb)## Compile as C++11, supported in ROS Kinetic and newer # add_compile_options(-std=c++11)## Find catkin macros and libraries ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) ## is used, also find other catkin packages find_package(catkin REQUIRED COMPONENTScv_bridgeroscpprospysensor_msgsimage_transportstd_msgs ) find_package(OpenCV 4.2.0 REQUIRED) catkin_package( # INCLUDE_DIRS include # LIBRARIES recive_rgbCATKIN_DEPENDS cv_bridge roscpp rospy sensor_msgs std_msgs std_srvs # DEPENDS system_lib ) include_directories( # include${catkin_INCLUDE_DIRS}${OpenCV_INCLUDE_DIRS} )add_executable(recive_rgbc src/recevice_rgb.cpp) target_link_libraries(recive_rgbc ${catkin_LIBRARIES} ${OpenCV_LIBS})

package.xml

<buildtool_depend>catkin</buildtool_depend><build_depend>cv_bridge</build_depend><build_depend>roscpp</build_depend><build_depend>rospy</build_depend><build_depend>sensor_msgs</build_depend><build_depend>std_msgs</build_depend><build_depend>std_srvs</build_depend><build_depend>image_transport</build_depend> <build_export_depend>image_transport</build_export_depend><build_export_depend>cv_bridge</build_export_depend><build_export_depend>roscpp</build_export_depend><build_export_depend>rospy</build_export_depend><build_export_depend>sensor_msgs</build_export_depend><build_export_depend>std_msgs</build_export_depend><build_export_depend>std_srvs</build_export_depend><exec_depend>image_transport</exec_depend><exec_depend>cv_bridge</exec_depend><exec_depend>roscpp</exec_depend><exec_depend>rospy</exec_depend><exec_depend>sensor_msgs</exec_depend><exec_depend>std_msgs</exec_depend><exec_depend>std_srvs</exec_depend>

roslaunch realsense2_camera rs_camera.launch filters:=pointcloud pointcloud_texture_stream:=RS2_STREAM_ANY enable_color:=true

?

?roslaunch realsense2_camera demo_pointcloud.launch

?

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