Intel RealSense D435 / D405使用和发布相机的ROS2话题

企业开发 2025-04-11 20:57:40 阅读次数: 0

官网：https://www.intelrealsense.com/sdk-2/

1.Windows系统下使用Intel RealSense Viewer

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使用教程：https://blog.csdn.net/weixin_45263375/article/details/106584903

2.Linux系统

2.1 安装和使用RealSense Viewer

注册服务器的公钥

sudo mkdir -p /etc/apt/keyrings
curl -sSf https://librealsense.intel.com/Debian/librealsense.pgp | sudo tee /etc/apt/keyrings/librealsense.pgp > /dev/null

确保安装了APTHTTPS⽀持

sudo apt-get install apt-transport-https

将服务器添加到存储库列表

echo "deb [signed-by=/etc/apt/keyrings/librealsense.pgp] https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" |   sudo tee /etc/apt/sources.list.d/librealsense.list

sudo apt-get update

安装库

sudo apt-get install librealsense2-dkms   # 注意系统内核版本
sudo apt-get install librealsense2-utils

安装开发⼈员和调试软件包（可选，按需安装）

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

验证安装（启动GUI界⾯）

realsense-viewer

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2.2 安装RealSense-ROS2

安装librealsense

sudo apt install ros-humble-librealsense2*

安装RealSense-ROS

 # 创建⼯作空间
mkdir -p ~/realsense_ws/src
cd ~/realsense_ws/src/

# ros2
git clone https://github.com/IntelRealSense/realsense-ros.git -b ros2-master
cd ~/realsense_ws

# ros2
sudo apt install python3-pip -y
sudo pip3 install -i https://pypi.tuna.tsinghua.edu.cn/simple rosdepc
sudo rosdepc init
sudo rosdepc fix-permissions
rosdepc update
rosdepc install -i --from-path src --rosdistro $ROS_DISTRO --skip keys=librealsense2 -y

colcon build
source /opt/ros/humble/setup.bash
. install/setup.bash

启动Realsen节点
PS：这里以相机分辨率设置为640*360为例

source install/setup.bash
ros2 launch realsense2_camera rs_align_depth_launch.py depth_module.depth_profile:=640x360x30 rgb_camera.color_profile:=640x360x30

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可以查看是否有release相关的话题，通过rviz2订阅查看图像信息

ros2 topic list 
/camera/camera/aligned_depth_to_color/camera_info
/camera/camera/aligned_depth_to_color/image_raw # 深度信息
/camera/camera/color/camera_info
/camera/camera/color/image_rect_raw # RGB图像
/camera/camera/color/metadata
/camera/camera/depth/camera_info
/camera/camera/depth/image_rect_raw
/camera/camera/depth/metadata
/camera/camera/extrinsics/depth_to_color
/parameter_events
/rosout
/tf_static

rviz2

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2.2 RealSense-ROS2 话题

官网文档：https://dev.intelrealsense.com/docs/ros2-wrapper

Linux系统intelRealSense相机SDK开发C++
SDK源码：https://github.com/IntelRealSense/librealsense/releases/tag/v2.56.2

# 发布RGB和对齐的深度图像话题————常用
ros2 launch realsense2_camera rs_align_depth_launch.py

# 发布点云话题（无序点云，(x,y,z)单位: m）：/camera/camera/depth/color/points
ros2 launch realsense2_camera rs_d405_pointcloud_launch.py

# 未验证
ros2 launch realsense2_camera rs_launch.py pointcloud.enable:=true

# rgb_image_topic  = "/camera/camera/color/image_rect_raw";
# depth_image_topic = "/camera/camera/aligned_depth_to_color/image_raw"; // 发布的深度信息单位 mm
# camera_topic_ = "/camera/camera/color/camera_info"; // 有内参矩阵和畸变系数
# std::string point_cloud_topic_ = "/camera/camera/depth/color/points"; // 发布的点云数据单位 m