建立工作空间
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| mkdir -p ~/realsense_ws/src cd ~/realsense_ws/src/
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下载需要的包
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| git clone https://github.com/IntelRealSense/realsense-ros.git git clone https://github.com/pal-robotics/ddynamic_reconfigure
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更改文件
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| sudo gedit /opt/ros/melodic/share/cv_bridge/cmake/cv_bridgeConfig.cmake
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在/opt/ros/melodic/share/cv_bridge/cmake/cv_bridgeConfig.cmake:113
大概是94和96行附近,/use/include/opencv
改成/use/include/opencv4
即可,否则后续编译报错。
编译
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| catkin_init_workspace cd ~/catkin_ws catkin_make
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配置环境变量
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| echo "source ~/catkin_ws/devel/setup.bash">>~/.bashrc source ~/.bashrc
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运行
运行后你可以看到t265输出的位姿信息
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| roslaunch realsense2_camera demo_t265.launch
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在编译过程中你可能会遇到各种各样的问题,可以在下方留言或者自行百度解决。