ros2 安装 Intel Realsense D435_ros2 realsense d435i

1.RealSense的SDK2.0安装

apt安装

1，注册服务器公钥

sudo apt-get update && sudo apt-get upgrade && sudo apt-get dist-upgrade
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
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2.将服务器添加到存储库列表中

sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u
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3.安装SDK2

sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils
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源码安装（适用于apt安装找不到）

1. 下载源码

git clone https://github.com/IntelRealSense/librealsense.git
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2.安装

sudo apt-get install libudev-dev pkg-config libgtk-3-dev
sudo apt-get install libusb-1.0-0-dev pkg-config
sudo apt-get install libglfw3-dev
sudo apt-get install libssl-dev

sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && udevadm trigger 
mkdir build
cd build
cmake ../ -DBUILD_EXAMPLES=true
make
sudo make install
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查看安装

realsense-viewer 
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2.Ros2包安装

sudo apt install ros-<ROS_DISTRO>-realsense2-*
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3. 启动相机节点

ros2 run realsense2_camera realsense2_camera_node
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