1. install librealsense refering to:
sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic main" -u
sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils
Optionally install the developer and debug packages:sudo apt-get install librealsense2-devsudo apt-get install librealsense2-dbg
With dev package installed, you can compile an application with librealsense using g++ -std=c++11 filename.cpp -lrealsense2 or an IDE of your choice.
Reconnect the Intel RealSense depth camera and run: realsense-viewer to verify the installation.
Verify that the kernel is updated :modinfo uvcvideo | grep "version:" should include realsense string
2. install intel-ros
https://github.com/IntelRealSense/realsense-ros
cd ~/catkin_ws/src/
git clone https://github.com/IntelRealSense/realsense-ros.git
cd realsense-ros/
git checkout `git tag | sort -V | grep -P "^\d+\.\d+\.\d+" | tail -1`
cd ..
catkin_make clean
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
catkin_make install
source devel/setup.bash
then you can verify by running:
roslaunch realsense2_camera rs_rgbd.launch
has [WARN] but ok, You can watch the stream with
rqt_image_view
or:
roslaunch realsense2_camera demo_pointcloud.launch
来源：CSDN
作者：友情岁月08
链接：https://blog.csdn.net/u011672345/article/details/103926261