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Realsense-Ros安装配置介绍与问题解决
Realsense-Ros安装配置
功能包克隆与编译编译错误与问题分析解决方案 结束语
本文主要讲述在如何进行Realsense-Ros的安装与配置,以及提出在安装配置过程中遇到相关问题的解决方案。 Realsense-Ros安装配置Realsense-Ros的配置主要涉及两个功能包,realsense-ros以及ddynamic_reconfigure https://github.com/IntelRealSense/realsense-ros.git https://github.com/pal-robotics/ddynamic_reconfigure.git 12 功能包克隆与编译如果你已经新建了ROS工作空间,或者已经建好了ROS工作空间,则可以直接在工作空间的src目录下克隆相关功能包,然后进行编译,具体命令参考下方: #已建好工作空间 cd catkin_ws/src/ git clone https://github.com/IntelRealSense/realsense-ros.git git clone https://github.com/pal-robotics/ddynamic_reconfigure.git cd ~/catkin_ws && catkin_make#未建立工作空间 mkdir -p ~/catkin_ws/src catkin_init_workspace cd … catkin_make cd src/ git clone https://github.com/IntelRealSense/realsense-ros.git git clone https://github.com/pal-robotics/ddynamic_reconfigure.git cd ~/catkin_ws && catkin_make 123456789101112131415 编译错误与问题分析在执行上述功能包克隆与编译的最后一部catkin_make时,你可能得到如下图所示的终端错误提示: option(BUILD_WITH_OPENMP “Use OpenMP” OFF) option(SET_USER_BREAK_AT_STARTUP “Set user wait point in startup (for debug)” OFF) add_definitions(-D_CRT_SECURE_NO_WARNINGS) set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON) find_package(catkin REQUIRED COMPONENTS message_generation nav_msgs roscpp sensor_msgs std_msgs nodelet cv_bridge image_transport tf ddynamic_reconfigure diagnostic_updater ) if(BUILD_WITH_OPENMP) find_package(OpenMP) if(NOT OpenMP_FOUND) message(FATAL_ERROR “\n\n OpenMP is missing!\n\n”) else() set(CMAKE_CXX_FLAGS “${CMAKE_CXX_FLAGS} O p e n M P C X X F L A G S − f o p e n m p " ) s e t ( C M A K E E X E L I N K E R F L A G S " {OpenMP_CXX_FLAGS} -fopenmp") set(CMAKE_EXE_LINKER_FLAGS " OpenMPCXXFLAGS−fopenmp")set(CMAKEEXELINKERFLAGS"{CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}”) endif() endif() if(SET_USER_BREAK_AT_STARTUP) message(“GOT FLAG IN CmakeLists.txt”) set(CMAKE_CXX_FLAGS “${CMAKE_CXX_FLAGS} -DBPDEBUG”) endif() if (WIN32) find_package(realsense2 CONFIG REQUIRED) else() find_package(realsense2 2.37.0) endif() if(NOT realsense2_FOUND) message(FATAL_ERROR “\n\n Intel RealSense SDK 2.0 is missing, please install it from https://github.com/IntelRealSense/librealsense/releases\n\n”) endif() 12345678910111213141516171819202122232425262728293031323334353637383940414243444546474849 解决方案针对终端反馈的错误信息修改realsense-ros/realsense2_camera/CMakeLists.txt:43,参考下面给出的实例对其进行修改,主要更改版本号为2.36.0。 if (WIN32) find_package(realsense2 CONFIG REQUIRED) else() find_package(realsense2 2.36.0) #修改为2.36.0 endif() 12345 结束语本文主要讲述了笔者在安装玩Realsense D435i驱动后,安装Realsense的ROS支持功能包的介绍以及给出遇到问题的解决方案,希望本文能够对你解决你遇到的问题起到一定的帮助。 |
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