Intel RealSense D455深度相機安裝過程遇到過一些報錯，所以記錄一下安裝過程！！！以后方便回顧。

1.安裝最新的IntelRealSense SDK2.0

(1) 注冊服務器的公鑰

sudo apt-get update && sudo apt-get upgrade && sudo apt-get dist-upgrade
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE

(2) 將服務器添加到存儲庫列表中

sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u

(3) 安裝SDK2

安裝依賴：

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

如果安裝realsense-ros，還需以下依賴：

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

2.測試相機的連接

(1)查看設備號

將深度相機連接到電腦，終端輸入：

   ls /dev/video*

(2)啟動realsense-viewer

D455相機需要USB3.0及以上接口，才能正常的傳輸數據，終端輸入，讀取相機的數據：

realsense-viewer

連接成功的效果如下：

3.安裝realsense-ros驅動

(1)創建工作空間

mkdir -p d455_ws/src
cd d455_ws/src

(2)下載realsense-ros

git clone https://github.com/IntelRealSense/realsense-ros.git

(3)將當前分支切換到最新版本

 cd realsense-ros/git checkout `git tag | sort -V | grep -P "^2.\d+\.\d+" | tail -1`cd ..

(4)安裝依賴

 sudo apt-get install ros-noetic-ddynamic-reconfigure

(5)編譯運行

cd /d455_ws
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release

但這一步編譯一直報錯：

CMake Warning at realsense-ros/realsense2_camera/CMakeLists.txt:44 (find_package):Found package configuration file:/usr/lib/x86_64-linux-gnu/cmake/realsense2/realsense2Config.cmakebut it set realsense2_FOUND to FALSE so package "realsense2" is consideredto be NOT FOUND.  Reason given by package:The following imported targets are referenced, but are missing: fastcdrfastrtps
CMake Error at realsense-ros/realsense2_camera/CMakeLists.txt:48 (message):Intel RealSense SDK 2.0 is missing, please install it from https://github.com/IntelRealSense/librealsense/releases-- Configuring incomplete, errors occurred!
See also "/home/mjc/d455_ws/build/CMakeFiles/CMakeOutput.log".
Invoking "cmake" failed

網上查了很多原因，截至2025.9.12，只有這個辦法適合我，那就是降級安裝：

https://github.com/IntelRealSense/librealsense/issues/14158

報錯解決：

1. 降級到 RealSense v2.55.1

# 1.降級安裝
sudo apt install --allow-downgrades librealsense2=2.55.1* librealsense2-dev=2.55.1*# 2.同時安裝其他相關包的對應版本
sudo apt install --allow-downgrades librealsense2-dkms=1.3.* librealsense2-utils=2.55.1*# 3.安裝缺失的依賴包
sudo apt install --allow-downgrades librealsense2-gl=2.55.1*# 4.再安裝 utils
sudo apt install --allow-downgrades librealsense2-utils=2.55.1*

2. 驗證降級是否成功

# 3.驗證降級是否成功
pkg-config --modversion realsense2 # 應該顯示 2.55.1
# 或者重新打開 realsense-viewer 查看版本
realsense-viewer

3.?清理并重新編譯

cd ~/d455_ws
rm -rf build/ devel/
source /opt/ros/noetic/setup.bash
catkin_make

4.如果想要鎖定版本（防止自動升級）

sudo apt-mark hold librealsense2 librealsense2-dev librealsense2-utils librealsense2-dkms

！！！更新：9.15號，似乎已經解決了這個錯誤，但我還沒有嘗試：
https://github.com/IntelRealSense/realsense-ros/issues/3406

(6)成功編譯后，安裝到本機

catkin_make install

4.啟動深度相機

4.1?啟動RGB-D相機

(1)先安裝ros軟件包rgbd_launch

sudo apt install ros-noetic-rgbd-launch

(2)啟動相機

cd d455_ws
source ./devel/setup.bash
roslaunch realsense2_camera rs_rgbd.launch

4.2 可視化相機數據

rosrun rqt_image_view rqt_image_view

選擇topic，連接成功畫面如圖所示：

參考資料：
https://jishuzhan.net/article/1790726978593099778

https://blog.csdn.net/weixin_50508111/article/details/124566566

http://www.chinasem.cn/article/826052

https://blog.csdn.net/weixin_50508111/article/details/125422880