ubuntu20.04安装与配置realsense d435i

以下是在Ubuntu 20.04上安装和配置Realsense D435i的步骤：

1.下载和安装realsense软件包

sudo apt-get update
sudo apt-get install ros-noetic-realsense2-camera

2.安装librealsense2

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.安装ROS wrapper for Intel® RealSense™ Devices软件包

sudo apt-get install ros-noetic-ddynamic-reconfigure
sudo apt-get install ros-noetic-realsense2-description

4.设置udev规则

sudo cp /opt/ros/noetic/share/realsense2-camera/udev-rules/99-realsense-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && udevadm trigger

5.启动Realsense D435i相机

roslaunch realsense2_camera rs_camera.launch

6.运行rviz并添加realsense相机

rosrun rviz rviz

7.在rviz中添加realsense相机模型

- 点击“Add”按钮
- 选择“By Topic”
- 在下拉菜单中选择“/camera/color/image_raw”
- 在“Fixed Frame”下拉菜单中选择“camera_link”
- 点击“Add”按钮

现在你应该能够在rviz中看到realsense相机的图像了。