Intel RealSense D435 using ROS o

参考：
D435在ROS下的使用

官网：https://github.com/intel-ros/realsense

1 安装ROS Wrapper for Intel® RealSense™ Devices

1. 创建catkin workspace

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

2. clone

git clone https://github.com/intel-ros/realsense.git

3. make

catkin_init_workspace 
cd ..
catkin_make clean
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
catkin_make install

4. source

echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

2 使用D435

1. 开始相机节点

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

2. RGBD点云

roslaunch realsense2_camera rs_rgbd.launch

3. 在rviz中查看点云

rosrun rviz rviz

add -> by topic -> depth_registered -> rgbd points