1、创造工作空间并进入

mkdir ros_ws
cd ros_ws/

2、克隆librealsense

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

3、安装依赖项

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-dev
 
sudo apt-get install cmake

sudo apt-get install libglfw3-dev
sudo apt-get install libgl1-mesa-dev
sudo apt-get install libglu1-mesa-dev at

4、运行权限脚本

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

如果运行第一个脚本失败

sudo apt install v4l-utils

5、创建build目录并切换至build目录

mkdir build && cd build

6、编译和安装

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

7、插入realsense相机测试

realsense-viewer