{"id":553,"date":"2025-07-04T03:48:02","date_gmt":"2025-07-03T19:48:02","guid":{"rendered":"https:\/\/cennum.top\/?p=553"},"modified":"2025-07-04T03:48:02","modified_gmt":"2025-07-03T19:48:02","slug":"ros2-humble%e4%b8%ad%e4%bd%bf%e7%94%a8realsense-t265%e4%b8%8ed435","status":"publish","type":"post","link":"https:\/\/cennum.top\/index.php\/2025\/07\/04\/ros2-humble%e4%b8%ad%e4%bd%bf%e7%94%a8realsense-t265%e4%b8%8ed435\/","title":{"rendered":"ros2 humble\u4e2d\u4f7f\u7528realsense t265\u4e0ed435"},"content":{"rendered":"\n<p>\u524d\u63d0\uff0c\u5b89\u88c5realsense SDK 2.51.1\u7248\u672c\u5e76\u4e14\u80fd\u6210\u529f\u542f\u52a8realsense-viewer V2.51.1<\/p>\n\n\n\n<p>\u60f3\u8981\u5728ros2\u4e2d\u4f7f\u7528realsense t265,\u5fc5\u987b\u914d\u5408realsense SDK v2.51.1\u4f7f\u7528realsense-ros 4.51.1\u7248\u672c\uff0c\u56e0\u4e3a\u65b0\u7248\u672crealsense ros2\u4e0d\u518d\u5bf9t265\u652f\u6301<\/p>\n\n\n\n<p>\u4e0b\u9762\u8bb0\u5f55\u6e90\u7801\u7f16\u8bd1\u5b89\u88c5 realsense-ros 4.51.1\u7248\u672c<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">1.\u521b\u5efa\u5e76\u8fdb\u5165\u4f60\u7684\u5de5\u4f5c\u7a7a\u95f4<\/h3>\n\n\n\n<pre class=\"wp-block-code has-ast-global-color-8-background-color has-background\"><code>mkdir ros2_ws\/src -p\n# \u8fdb\u5165 src \u76ee\u5f55\ncd ~\/ros2_ws\/src\n# \u514b\u9686\u5b8c\u6574\u7684\u4ed3\u5e93\ngit clone https:\/\/github.com\/IntelRealSense\/realsense-ros.git\n# \u8fdb\u5165\u65b0\u514b\u9686\u7684\u6587\u4ef6\u5939\ncd realsense-ros\n# \u5207\u6362\u5230 4.51.1 \u7248\u672c\ngit checkout 4.51.1<\/code><\/pre>\n\n\n\n<h3 class=\"wp-block-heading\">2.\u7f16\u8bd1<\/h3>\n\n\n\n<pre class=\"wp-block-code has-ast-global-color-8-background-color has-background\"><code># \u8fdb\u5165\u60a8\u7684ROS2\u5de5\u4f5c\u7a7a\u95f4\ncd ~\/ros2_ws\n\n# \u6267\u884c\u7f16\u8bd1\ncolcon build --symlink-install<\/code><\/pre>\n\n\n\n<p>\u524d\u9762\u7684SDK\u80fd\u5b89\u88c5\u6210\u529f\uff0c\u8fd9\u4e2a\u5c31\u6ca1\u5565\u95ee\u9898\u4e86<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">3.\u6d4b\u8bd5\u76f8\u673a\u7684ros2\u8282\u70b9<\/h3>\n\n\n\n<p>\u52a0\u8f7dROS2\u73af\u5883\u548c\u60a8\u5de5\u4f5c\u7a7a\u95f4\u7684\u73af\u5883\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code has-ast-global-color-8-background-color has-background\"><code>source \/opt\/ros\/humble\/setup.bash\nsource ~\/ros2_ws\/install\/setup.bash<\/code><\/pre>\n\n\n\n<p><strong>\u542f\u52a8T265\u8282\u70b9<\/strong>\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code has-ast-global-color-8-background-color has-background\"><code>ros2 launch realsense2_camera rs_launch.py enable_pose:=true<\/code><\/pre>\n\n\n\n<p>realsense2_camera\u7ba1\u7406\u5305\u91cc\u9762\u7684launch\u90fd\u53ef\u4ee5\u542f\u52a8\u8bd5\u4e00\u4e0b<\/p>\n\n\n\n<p>\u542f\u52a8\u5982\u679c\u4e0d\u62a5\u9519\u8bef\uff0c\u91cd\u65b0\u6253\u5f00\u4e00\u4e2a\u7ec8\u7aef\u4f7f\u7528ros2 topic list \u67e5\u770b\u8f93\u51fa\u7684\u8bdd\u9898\uff0c\u4f7f\u7528rviz2\u53ef\u89c6\u5316\u6570\u636e<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">4.\u5b66\u5230\u7684\u65b0\u4e1c\u897f<\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5728\u5f00\u53d1\u9636\u6bb5\uff0c\u4f7f\u7528colcon build\u7f16\u8bd1\u65f6\u52a0\u4e0a <code>--symlink-install<\/code> \u9009\u9879\u4f1a\u975e\u5e38\u65b9\u4fbf\u3002\u5b83\u4f1a\u521b\u5efa\u4e00\u4e2a\u7b26\u53f7\u94fe\u63a5\u800c\u4e0d\u662f\u590d\u5236\u6587\u4ef6\u3002\u8fd9\u6837\uff0c\u4f60\u4fee\u6539 <code>launch.py<\/code> \u6587\u4ef6\u540e\u5c31<strong>\u4e0d\u9700\u8981\u91cd\u65b0\u7f16\u8bd1<\/strong>\uff0c\u76f4\u63a5\u8fd0\u884c <code>ros2 launch<\/code> \u5373\u53ef\u751f\u6548\u3002<\/li>\n\n\n\n<li>\u6811\u8393\u6d3e\u7684USB\u7aef\u53e3\u4f9b\u7535\u80fd\u529b\u6709\u9650\uff0c\u8bf7\u786e\u4fdd\u60a8\u4f7f\u7528\u7684\u662f<strong>\u5b98\u65b9\u7684\u6811\u8393\u6d3e4B\u7535\u6e90\u9002\u914d\u5668 (5V\/3A)<\/strong>\uff0c\u5f53T265\u5c1d\u8bd5\u542f\u52a8\uff08boot\uff09\u65f6\uff0c\u5b83\u9700\u8981\u4e00\u4e2a\u7a33\u5b9a\u4e14\u77ac\u65f6\u529f\u7387\u8db3\u591f\u7684\u4f9b\u7535\u3002\u5982\u679c\u4f9b\u7535\u4e0d\u8db3\u6216USB\u901a\u4fe1\u4fe1\u53f7\u8d28\u91cf\u5dee\uff0c\u5c31\u4f1a\u5bfc\u81f4\u542f\u52a8\u5931\u8d25\uff0cSDK\u4e5f\u5c31\u627e\u4e0d\u5230\u8bbe\u5907\u4e86\u3002<\/li>\n<\/ul>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u524d\u63d0\uff0c\u5b89\u88c5realsense SDK 2.51.1 &hellip;<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[2,30],"tags":[4],"class_list":["post-553","post","type-post","status-publish","format-standard","hentry","category-linux","category-ros2","tag-linux"],"_links":{"self":[{"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/posts\/553","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/comments?post=553"}],"version-history":[{"count":1,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/posts\/553\/revisions"}],"predecessor-version":[{"id":555,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/posts\/553\/revisions\/555"}],"wp:attachment":[{"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/media?parent=553"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/categories?post=553"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/tags?post=553"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}