ROS2 FoxyでRealSenseの環境構築（ubuntu20.04）

パッケージインストール for Ubuntu 16/18/20 LTS

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u
sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils
sudo apt-get install librealsense2-dev
sudo apt-get install librealsense2-dbg
sudo apt-get update
sudo apt-get upgrade

起動確認

realsense-viewer 

右上にFirmware Update Recommended!と表示された場合はinstallをクリック

ROS2関連パッケージインストール

sudo apt-get install ros-foxy-cv-bridge ros-foxy-librealsense2 ros-foxy-message-filters ros-foxy-image-transport
sudo apt-get install -y libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
sudo apt-get install -y libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev

mkdir -p ~/realsense_ws/src
cd ~/realsense_ws/src/
git clone https://github.com/IntelRealSense/realsense-ros.git -b foxy
git clone https://github.com/IntelRealSense/librealsense
cd librealsense/
git checkout  remotes/origin/ros2debian 

cd ~/realsense_ws/
colcon build 
source ~/realsense_ws/install/local_setup.bash

起動確認（ターミナル１）

ros2 launch realsense2_camera rs_launch.py 

起動確認（ターミナル２）

source ~/realsense_ws/install/local_setup.bash
ros2 run rqt_image_view rqt_image_view 

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