1、創造工作空間并進入

mkdir ros_ws
cd ros_ws/

2、克隆librealsense

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

3、安裝依賴項

sudo apt-get install libssl-dev
sudo apt-get install libusb-1.0-0-dev
sudo apt-get install libudev-dev
sudo apt-get install pkg-config
sudo apt-get install libgtk-3-devsudo apt-get install cmakesudo apt-get install libglfw3-dev
sudo apt-get install libgl1-mesa-dev
sudo apt-get install libglu1-mesa-dev at

4、運行權限腳本

./scripts/setup_udev_rules.sh
./scripts/patch-realsense-ubuntu-lts.sh

如果運行第一個腳本失敗

sudo apt install v4l-utils

5、創建build目錄并切換至build目錄

mkdir build && cd build

6、編譯和安裝

cmake .. -DBUILD_EXAMPLES=true
sudo make uninstall && make clean && make && sudo make install 

7、插入realsense相機測試

realsense-viewer