ubuntu16 下 realsensed435i 的驱动安装
安装环境
系统：ubuntu 16.04
ROS： Kinetic
传感器：intel realsense d435i
安装Realsense SDK
安装依赖项
sudo apt-get install libudev-dev pkg-config libgtk-3-dev
sudo apt-get install libusb-1.0-0-dev pkg-config
sudo apt-get install libglfw3-dev
sudo apt-get install libssl-dev
sudo apt-get install libgl1-mesa-dev libglu1-mesa-dev
直接安装官方已经编译好的包：
sudo apt-key adv --keyserver keys.gnupg.net --recv-key C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver kp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCDE
sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u
sudo apt install librealsense2-dkms
sudo apt install librealsense2-utils
sudo apt install librealsense2-dev
sudo apt install librealsense2-dbg
ROS RealSense的镜像安装
sudo apt-get install ros-kinetic-realsense2-camera
RealSense启动
roslaunch realsense2_camera rs_camera.launch
点云启动
roslaunch realsense2_camera rs_camera.launch filters:=pointcloud
rosrun rviz rviz
来源：oschina
链接：https://my.oschina.net/u/4399154/blog/4530730