ros下使用realsense d435获取点云

realsense驱动安装见上篇博文。

1.通过源码安装intel RealSense ROS

1.创建catkin工作空间

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

2.将下载的源码复制到’catkin_ws/src/’

catkin_init_workspace 
cd ..
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

3.使用

1）开始相机节点

roslaunch realsense2_camera rs_camera.launch

2）RGBD点云

roslaunch realsense2_camera rs_rgbd.launch

遇见的问题：
failed to load node．．．．
解决办法：
将所运行的两个launch文件中的<arg name="enable_pointcloud" default="true"/>由false改为true