内核版本：6.8.0-52-generic
realsense 版本： LibRealSense v2.55.1
D435i：Device FW version: 5.16.0.1
librealsense SDK 安装
sudo mkdir -p /etc/apt/keyrings
curl -sSf https://librealsense.intel.com/Debian/librealsense.pgp | sudo tee /etc/apt/keyrings/librealsense.pgp > /dev/null
# Make sure apt HTTPS support is installed: sudo apt-get install apt-transport-https
# Add the server to the list of repositories:
echo "deb [signed-by=/etc/apt/keyrings/librealsense.pgp] https://librealsense.intel.com/Debian/apt-repo `lsb_release -cs` main" | \\
#在下方输入下面指令
sudo tee /etc/apt/sources.list.d/librealsense.list
sudo apt-get update
# Install the libraries (see section below if upgrading packages):
sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils
# The above two lines will deploy librealsense2 udev rules, build and activate kernel modules, runtime library and executable demos and tools.
# Optionally install the developer and debug packages:
sudo apt-get install librealsense2-dev
sudo apt-get install librealsense2-dbg
# 测试是否安装成功
realsense-viewer
到这一步sdk安装成功
realsense ros2 安装 和 使用
# 源码安装realsense ros2
mkdir -p ./ros2_ws/src
cd ./ros2_ws/src
git clone https://github.com/IntelRealSense/realsense-ros.git -b ros2-master
cd ../
# 编译
sudo rosdep init
rosdep update
rosdep install -i –from-path src –rosdistro $ROS_DISTRO –skip-keys=librealsense2 -y
colcon build
# source environment
source ~/ros2_ws/install/setup.bash
# 2. 永久配置（如果尚未操作）
echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
echo "source ~/ros2_ws/install/setup.bash" >> ~/.bashrc
echo "export ROS_DISTRO=humble" >> ~/.bashrc
source ~/.bashrc
# 3. 测试功能
ros2 launch realsense2_camera rs_launch.py
测试使用
# 查看已发布的话题
ros2 topic list
#查看RGB图像
ros2 run rqt_image_view rqt_image_view
# 择话题：/camera/color/image_raw
#查看IMU数据
ros2 topic echo /camera/imu/gyro
# 启动RViz2进行综合可视化
ros2 run rviz2 rviz2
