• Create a catkin workspace

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src/

• Clone the latest Intel® RealSense™ ROS from here into 'catkin_ws/src/'
  catkin_make类似与cmake，其实也是cmake在ROS下的封装

catkin_init_workspace 
cd ..
catkin_make clean
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
catkin_make install
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

注意：ROS下的软件都应该放到src下编译，上面命令执行前应该先把Intel RealSense ROS源码下载到src目录下，catkin_make是在catkin_ws目录下，每次新catkin_make新代码后用source ~/.bashrc更新工作环境

使用方法

• Start the camera node，install rgbd_launch

sudo apt-get install ros-kinetic-rgbd-launch

安装好后，执行

roslaunch realsense2_camera rs_camera.launch

• RGBD Point Cloud
  用topic depth registered发布RGBD点云

roslaunch realsense2_camera rs_rgbd.launch

• Set Camera Controls Using Dynamic Reconfigure Params

rosrun rqt_reconfigure rqt_reconfigure