[ROS2] Realsense SDK + ROS humble Package 설치 (Ubuntu 22.04)

Realsense SDK설치

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE

sudo add-apt-repository "deb <https://librealsense.intel.com/Debian/apt-repo> focal main" -u

echo "deb <http://security.ubuntu.com/ubuntu> impish-security main" | sudo tee /etc/apt/sources.list.d/impish-security.list
sudo apt-get update
sudo apt-get install libssl1.1

sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils
sudo apt-get install librealsense2-dev
sudo apt-get install librealsense2-dbg

Realsense SDK 확인

realsense-viewer

Realsense ROS package 설치

sudo apt install ros-humble-diagnostic-*

cd ~/{ROS_WS}/src
git clone -b ros2 https://github.com/ladianchad/realsense-ros.git

확인

source ~/{ROS_WS}/install/setup.bash
ros2 launch realsense2_camera rs_launch.py enable_pointcloud:=true device_type:=d435