香橙派5+ROS2+D435i

香橙派ROS2+D435i

ROS2安装

鱼香安装

D435i使用

Intel® RealSense™ SDK 2.0安装

我用后报错的方法

官方安装教程
我在使用官方安装教程，进行到以下时

sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils

报错

Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
E: Unable to locate package librealsense2-dkms

没找到解决方法

我的方法

借鉴这位的

1. 下载源码
   git clone -b v2.52.2 https://github.com/IntelRealSense/librealsense.git
2. 进入源码目录
   cd librealsense
3. 安装依赖

sudo apt-get update && sudo apt-get upgrade && sudo apt-get dist-upgrade
sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev at

4. 从libalsense根目录运行Intel Realsense权限脚本
   sudo ./scripts/setup_udev_rules.sh
5. 编译安装

mkdir build && cd build
cmake ../ -DBUILD_EXAMPLES=true -DFORCE_RSUSB_BACKEND=true -DCMAKE_BUILD_TYPE=release -DBUILD_GRAPHICAL_EXAMPLES=FALSE

6. 内存大运行这个，香橙派5为4核就为 -j4
   sudo make uninstall && make clean && make -j4 && sudo make install
7. 内存小运行这个
   sudo make uninstall && make clean && make && sudo make install

RealSense™ROS安装

官网教程——Installation on Ubuntu——Step3

Install debian package from ROS servers

sudo apt install ros-humble-realsense2-*

Install from source

1. Create a ROS2 workspace

cd 
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src/

2. Clone the latest ROS2 Intel® RealSense™ wrapper from here into ‘~/ros2_ws/src/’

git clone https://github.com/IntelRealSense/realsense-ros.git -b ros2-development
cd ~/ros2_ws    #别忘了退回到ros_ws目录

3. Install dependencies