参考：
[1] Realsense-Ros: https://github.com/IntelRealSense/realsense-ros#installation-instructions
[2] librealsense: https://github.com/IntelRealSense/librealsense
注意：realsense-ros 要和 librealsense 版本匹配，realsense-ros 最新 release 为 2.2.7，Supported Realsense SDK 为 librealsense 2.24 .0
1. 源码安装 librealsense
参考：https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md
sudo apt-get update && sudo apt-get upgrade && sudo apt-get dist-upgrade
git clone https://github.com/IntelRealSense/librealsense.git
sudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
sudo apt-get install libglfw3-dev
./scripts/setup_udev_rules.sh
./scripts/patch-realsense-ubuntu-lts.sh
mkdir build && cd build
cmake ../ -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=true
sudo make uninstall && make clean && make -j8 && sudo make install
The shared object will be installed in /usr/local/lib, header files in /usr/local/include.
The binary demos, tutorials and test files will be copied into /usr/local/bin
2. 源码编译 realsense-ros
mkdir -p ~/catkin_ws/src && cd ~/catkin_ws/src
git clone https://github.com/IntelRealSense/realsense-ros.git cd realsense-ros/ git checkout `git tag | sort -V | grep -P "^\d+\.\d+\.\d+" | tail -1`
sudo apt-get install ros-kinetic-ddynamic_reconfigure
cd ~/catkin_ws
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
roslaunch realsense2_camera rs_camera.launch
Ubuntu 16.04 + Realsense D435i + ROS 开发
原文：https://www.cnblogs.com/dinghongkai/p/11300167.html