実際のところ
前提
ROS2 humbleの環境構築が済んでいる
shuzo-kino.hateblo.jp
作業
$ sudo apt install ros-humble-realsense2-*
作業スペースがdev_wsの場合
$ cd ~/dev_ws/src $ git clone https://github.com/IntelRealSense/realsense-ros.git -b ros2-development $ cd ~/dev_ws/
$ rosdep update
$ rosdep install -i --from-path src --rosdistro $ROS_DISTRO --skip-keys=librealsense2 -y
今回はRasPi4Bの上に組んでいてQtまわりが上手くいかないっぽいのでgazebo系を除外
$ colcon build --packages-skip realsense_gazebo_plugin xarm_gazebo xarm_planner
動作
とりあえずrunで
$ ros2 run realsense2_camera realsense2_camera_node
$ ros2 topic list /camera/camera/color/camera_info /camera/camera/color/image_raw /camera/camera/color/metadata /camera/camera/depth/camera_info /camera/camera/depth/image_rect_raw /camera/camera/depth/metadata /camera/camera/extrinsics/depth_to_color /camera/camera/extrinsics/depth_to_infra1 /camera/camera/extrinsics/depth_to_infra2 /camera/camera/infra1/camera_info /camera/camera/infra1/image_rect_raw /camera/camera/infra1/metadata /camera/camera/infra2/camera_info /camera/camera/infra2/image_rect_raw /camera/camera/infra2/metadata /parameter_events /rosout /tf_static
