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注册公匙
sudo apt-key adv --keyserver keys.gnupg.net --recv-key C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCDE
添加repositories(Ubuntu 16 LTS)
sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u
安装library
sudo apt-get install librealsense2-dkmssudo apt-get install librealsense2-utils
安装developer和debug packages
sudo apt-get install librealsense2-devsudo apt-get install librealsense2-dbg
测试SDK
realsense-viewer
cd ~/catkin_ws/srcgit clone https://github.com/intel-ros/realsense.gitcd ..catkin_makerospack profilesource devel/setup.sh
cd ~/catkin_ws/srcgit clone https://github.com/HKUST-Aerial-Robotics/VINS-Mono.gitcd ..catkin_makesource ~/catkin_ws/devel/setup.bash
1.修改realsense包里的rs_camera.launch文件
2.修改VINS-Mono包里的realsense_color_config.yaml文件第二处我自己的相机内参为:roslaunch realsense2_camera rs_camera.launch roslaunch vins_estimator realsense_color.launch roslaunch vins_estimator vins_rviz.launch
参考博文: