Ubuntu16.04+RealnD435i+ROS环境配置
烧腐竹的家常做法
参考：
注意：realn-ros 要和 librealn 版本匹配，realn-ros 2.2.7 对应的 Realn SDK 为 librealn 2.24 .0
1. 源码安装 librealn征兵体检心理测试
更新系统
sudo apt-get update && sudo apt-get upgrade && sudo apt-get dist-upgrade
下载源码
git 下载抢椅子
git clone -b v2.24./IntelRealSen/librealn.git
或⼿动下载：
安装依赖，若有 realn 连接，先unplug
sudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
sudo apt-get install libglfw3-dev
安装包根⽬录，run Intel Realn permissions script
./scripts/tup_udev_rules.sh
Download, patch and build realn-affected kernel modules (drivers)
./scripts/patch-realn-ubuntu-lts.sh
编译安装
生女儿的祝福语mkdir build && cd build
cmake ../ -DCMAKE_BUILD_TYPE=Relea -DBUILD_EXAMPLES=true文身和纹身区别
sudo make uninstall && make clean && make -j8 && sudo make install
The shared object will be installed in /usr/local/lib, header files in /usr/local/include.
The binary demos, tutorials and test files will be copied into /usr/local/bin
2. 源码编译 realn-ros
公主兔图片创建⼯作空间
mkdir -p ~/catkin_ws/src && cd ~/catkin_ws/src
下载源码，并检查依赖
git clone -b 2.2./IntelRealSen/realn-ros.git
cd realn-ros/realn2_camera
git checkout `git tag | sort -V | grep -P "^\d+\.\d+\.\d+" | tail -1`
sudo apt-get install ros-kinetic-ddynamic-reconfigure
编译
cd ~/catkin_ws
catkin_make clean
catkin_make -DCATKIN_ENABLE_TESTING=Fal -DCMAKE_BUILD_TYPE=Relea
catkin_make install
echo"source ~/catkin_ws/devel/tup.bash" >> ~/.bashrc
source ~/.bashrc吃螃蟹能喝茶吗>小乌龟怎么画
启动相机节点
roslaunch realn2_camera rs_camera.launch
