ubuntu16.04 ros realsense 配置 2022.11.15

https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md
https://github.com/IntelRealSense/realsense-ros#installation-instructions
http://wiki.ros.org/RealSense

参考：
https://zhuanlan.zhihu.com/p/93127918
https://zhuanlan.zhihu.com/p/356137163
各种各样的安装教程五花八门都不一样。要注意摄像头型号的区别
https://github.com/IntelRealSense/realsense-ros/tree/ros1-legacy

似乎有好几种方法？ Jetson Nano versions这个人的方法提到的比较多？

参考这个
https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md
https://github.com/IntelRealSense/realsense-ros/tree/ros1-legacy
怎么还对cuda版本有要求
https://github.com/IntelRealSense/realsense-ros/tree/ros1-legacy

最后采用的方法

These are packages for using Intel RealSense cameras (D400 series SR300 camera and T265 Tracking Module) with ROS.
Method 1: The ROS distribution:
Ubuntu
realsense2_camera is available as a debian package of ROS distribution. It can be installed by typing:
realsense2_camera is available as a debian package of ROS distribution. It can be installed by typing:

sudo apt-get install ros-$ROS_DISTRO-realsense2-camera
1

This will install both realsense2_camera and its dependents, including librealsense2 library and matching udev-rules.

Notice:

The version of librealsense2 is almost always behind the one availeable in RealSense™ official repository.
librealsense2 is not built to use native v4l2 driver but the less stable RS-USB protocol. That is because the last is more general and operational on a larger variety of platforms.
realsense2_description is available as a separate debian package of ROS distribution. It includes the 3D-models of the devices and is necessary for running launch files that include these models (i.e. rs_d435_camera_with_model.launch). It can be installed by typing: sudo apt-get install ros-$ROS_DISTRO-realsense2-description

https://joveh-h.blog.csdn.net/article/details/120730198?spm=1001.2101.3001.6661.1&utm_medium=distribute.pc_relevant_t0.none-task-blog-2%7Edefault%7ECTRLIST%7ERate-1-120730198-blog-108947603.pc_relevant_3mothn_strategy_recovery&depth_1-utm_source=distribute.pc_relevant_t0.none-task-blog-2%7Edefault%7ECTRLIST%7ERate-1-120730198-blog-108947603.pc_relevant_3mothn_strategy_recovery&utm_relevant_index=1

bigfacecat@bigfacecat-Lenovo-Legion-Y7000:/etc/udev/rules.d$ sudo touch 99-realsense-libusb.rules
[sudo] bigfacecat 的密码：
bigfacecat@bigfacecat-Lenovo-Legion-Y7000:/etc/udev/rules.d$ sudo gedit 99-realsense-libusb.rules

(gedit:5744): Gtk-WARNING **: Calling Inhibit failed: GDBus.Error:org.freedesktop.DBus.Error.ServiceUnknown: The name org.gnome.SessionManager was not provided by any .service files

** (gedit:5744): WARNING **: Set document metadata failed: 不支持设置属性 metadata::gedit-spell-enabled

** (gedit:5744): WARNING **: Set document metadata failed: 不支持设置属性 metadata::gedit-encoding

** (gedit:5744): WARNING **: Set document metadata failed: 不支持设置属性 metadata::gedit-position
bigfacecat@bigfacecat-Lenovo-Legion-Y7000:/etc/udev/rules.d$ sudo /etc/init.d/udev restart
[ ok ] Restarting udev (via systemctl): udev.service.

方法2

网上各种零散的方法讲的都是方法2
方法2分为两个步骤
不管怎么样肯定是先装驱动 再装ros连接依赖
然后各自又有演变出的不同方法，具体内容可参考上面连接