在Ubuntu 18.04.04上安装和配置Realsense D435i的步骤

以下是在Ubuntu 18.04.04上安装和配置Realsense D435i的步骤：

1. 下载和安装Realsense SDK：

   sudo apt-get update && sudo apt-get upgrade
   sudo apt-get install libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
   sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev
   mkdir -p ~/realsense_ws/src
   cd ~/realsense_ws/src
   git clone https://github.com/IntelRealSense/realsense-ros.git
   cd realsense-ros/
   git checkout `git tag | sort -V | grep -P "^2.\d+\.\d+" | tail -1`
   cd ~/realsense_ws/
   catkin_make clean
   catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release

2. 安装ibrealsense2：

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

3. 配置udev规则：

   sudo cp ~/realsense_ws/src/realsense-ros/realsense2_camera/99-realsense-libusb.rules /etc/udev/rules.d/
   sudo udevadm control --reload-rules && udevadm trigger
   sudo modprobe uvcvideo

4. 启动camera：

   source ~/realsense_ws/devel/setup.bash
   roslaunch realsense2_camera rs_camera.launch

如果需要启用D435i的IMU功能，可以添加以下参数：

   source ~/realsense_ws/devel/setup.bash
   roslaunch realsense2_camera rs_camera.launch enable_imu:=true

5. 查看camera输入：

   rostopic list
   rostopic echo /camera/color/image_raw
   rostopic echo /camera/depth/image_raw
   rostopic echo /camera/infra1/image_raw
   rostopic echo /camera/infra2/image_raw
   rostopic echo /camera/imu

6. 使用rviz查看camera输入：

   rosrun rviz rviz

在rviz中添加以下内容：

- Fixed Frame: camera_link
- Add -> By Topic -> /camera/color/image_raw
- Add -> By Topic -> /camera/depth/image_raw
- Add -> By Topic -> /camera/infra1/image_raw
- Add -> By Topic -> /camera/infra2/image_raw
- Add -> By Topic -> /camera/imu