ROS2에 intel realsense D455 실행하기

1. realsense sdk 소스를 빌드

• 1-1. 필요 패키지 설치

sudo apt update
sudo apt install git cmake build-essential libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev

 

• 1-2. librealsense2 소스 코드 다운로드

git clone https://github.com/IntelRealSense/librealsense.git
cd librealsense

git checkout v2.56.2

 

• 1-3. 빌드 및 인스톨

mkdir build && cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j$(nproc)
sudo make install

 

•  1-4. udev 규칙 설정 

sudo cp ../config/99-realsense-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && udevadm trigger

 

• 1-5. 실행

realsense-viewer

 

 

 

 

2. ros2 realsense wrapper 설치

• 2-1. 패키지 설치

sudo apt update
sudo apt install \
  ros-humble-realsense2-camera \
  ros-humble-realsense2-camera-msgs \
  ros-humble-realsense2-description

 

• 2-2. 소스코드 다운 및 빌드

cd ~/ros2_ws/src
git clone -b 4.55.1 https://github.com/IntelRealSense/realsense-ros.git
cd ~/ros2_ws
colcon build --symlink-install --packages-select realsense2_camera

 

 

• 2-3. 노드 실행

ros2 launch realsense2_camera rs_launch.py

ros2 run realsense2_camera realsense2_camera_node \
  --ros-args \
  -r __node:=D455_1 \
  -r __ns:=robot1