ros2与传感器-整合深度相机d435i和T265

ros2与传感器-整合深度相机d435i和T265

说明：

• 介绍如何在ros2下使用深度相机d435i和T265
• 测试环境：nuc 20.04
• 具体产品，点击淘宝地址

realsense2 SDK安装步骤：

• 添加KEY

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE

• 添加库

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

• 安装SDK

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

• 测试运行

 realsense-viewer

realsense2-camera安装步骤：

• APT安装

sudo apt install ros-$ROS_DISTRO-realsense2-camera
sudo apt install ros-$ROS_DISTRO-realsense2-description

测试：

• 查看点云

ros2 launch realsense2_camera demo_pointcloud_launch.py

• 默认启动

ros2 launch realsense2_camera rs_launch.py

• 指定激活点云，定制设备型号

ros2 launch realsense2_camera rs_launch.py enable_pointcloud:=true device_type:=d435i

• 指定配置文件

ros2 launch realsense2_camera rs_launch.py config_file:="'$COLCON_PREFIX_PATH/realsense2_camera/share/realsense2_camera/config/d435i.yaml'"

• 使用rosrun启动

ros2 run realsense2_camera realsense2_camera_node --ros-args -p filters:=colorizer

• 发布的话题

$ ros2 topic list
/camera/color/camera_info
/camera/color/image_raw
/camera/color/image_raw/compressed
/camera/color/image_raw/compressedDepth
/camera/color/image_raw/theora
/camera/color/metadata
/camera/depth/camera_info
/camera/depth/image_rect_raw
/camera/depth/image_rect_raw/compressed
/camera/depth/image_rect_raw/compressedDepth
/camera/depth/image_rect_raw/theora
/camera/depth/metadata
/camera/extrinsics/depth_to_color
/parameter_events
/rosout
/tf
/tf_static

• 通过设备类型打开多个设备

ros2 launch realsense2_camera rs_multi_camera_launch.py camera_name1:=my_D435 device_type1:=d435 camera_name2:=my_d415 device_type2:=d415

• 通过序列号打开多个设备

ros2 launch realsense2_camera rs_multi_camera_launch.py serial_no1:=_036522070660 serial_no2:=_725112060349

• 打开T265

ros2 launch realsense2_camera rs_t265_launch.py

• 同时打开T265和rviz

ros2 launch realsense2_camera demo_t265_launch.py

• 打开相机模型

ros2 launch realsense2_description view_model.launch.py model:=test_d415_camera.urdf.xacro

• 显示所有模型

ros2 launch realsense2_description view_model.launch.py

参考：

• https://index.ros.org/r/realsense2_camera/