Xavier：在ros中使用realsense

Xavier：在ros中使用realsense（Jetpack4.4）

a) 安装 realsense sdk

https://github.com/IntelRealSense/realsense-ros（官方给出的方式，多次编译失败）

https://github.com/jetsonhacks/installRealSenseSDK（亲自实验，成功！）

b) 安装 realsesense_ros:

注意版本要与 sdk 同步(启动realsese-viewer左上角窗口会出现版本号，下载对版本的ros)

• 点击左上方development tag选择branch

• ROS Wrapper for Intel® RealSense™ Devices的下方会显示： LibRealSense supported version:

  点击对应的连接，拉到最底下下载sourc code

• 进入https://github.com/IntelRealSense/realsense-ros跳过step1

  #Specifically, make sure that the ros package ddynamic_reconfigure is installed. If ddynamic_reconfigure cannot be installed using APT or if you are using Windows you may clone it into your workspace 'catkin_ws/src/' from here (https://github.com/pal-robotics/ddynamic_reconfigure/tree/kinetic-devel) 建议通过源码包的形式 
  
  mkdir -p ~/catkin_ws/src
  cd ~/catkin_ws/src/
  # 将下载的源码复制到 /catkin_ws/src/
  # 进入/catkin_ws/src/
  catkin_init_workspace
  cd ..
  catkin_make clean   
  # 若报错： Project ‘cv_bridges’ specifics '/user/include/opencv' as an include dir, which is not found.
  # 则：将报错路径中的cv_bridgeconfig.cmake文件中 include/opencv 改成 include/opencv4
  
  catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
  catkin_make install
  
  echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
  source ~/.bashrc
  
  #Start the camera node
  #To start the camera node in ROS:
  roslaunch realsense2_camera rs_camera.launch