realsense backend

回答: 在安装realsense D435i SDK以及realsense-ros的过程中，需要进行以下步骤:

1. 首先，需要安装librealsense。可以通过以下命令下载源码并安装依赖:

   git clone -b v2.24.0 https://github.com/IntelRealSense/librealsense.git
   sudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
   sudo apt-get install libglfw3-dev
   cd librealsense
   ./scripts/setup_udev_rules.sh
   ./scripts/patch-realsense-ubuntu-lts.sh
   mkdir build && cd build
   cmake ../ -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=true
   sudo make uninstall && make clean && make -j8 && sudo make install

2. 接下来，需要安装realsense-ros。可以通过以下命令创建ros工作空间并下载源码:

   mkdir -p ~/realsense_ws/src && cd ~/realsense_ws/src
   git clone -b 2.2.7 https://github.com/IntelRealSense/realsense-ros.git
   cd realsense-ros/realsense2_camera
   git checkout `git tag | sort -V | grep -P "^\d+\.\d+\.\d+" | tail -1`
   sudo apt-get install ros-kinetic-ddynamic-reconfigure

3. 编译并安装realsense-ros:

   cd ~/realsense_ws
   catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
   catkin_make install
   echo "source ~/realsense_ws/devel/setup.bash" >> ~/.bashrc
   source ~/.bashrc

4. 最后，可以进行测试。可以通过以下命令启动realsense-ros节点并查看效果:

   roslaunch realsense2_camera rs_camera.launch
   rostopic list
   rviz

请注意，在下载完realsense-ros源码后，不要运行以下两行指令:

cd realsense-ros/realsense2_camera
git checkout `git tag | sort -V | grep -P "^\d+\.\d+\.\d+" | tail -1`

这些步骤将帮助您安装realsense backend并使用realsense-ros进行开发和测试。
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