# SLAM_LIB

**Repository Path**: areszheng/software

## Basic Information

- **Project Name**: SLAM_LIB
- **Description**: SLAM_LIB
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 1
- **Created**: 2023-08-25
- **Last Updated**: 2023-08-25

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# 运行换源时，加sudo

~~~bash
sudo ./18.04.sh
~~~


# 2 d455 安装
## 2.1 librealsense安装

**先librealsense安装，再realsense-ros安装**

依赖

~~~bash
sudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev
~~~

~~~bash
git clone https://gitee.com/linClubs/librealsense-2.50.0.git
~~~

到librealsense-2.50.0目录下
~~~bash
./scripts/setup_udev_rules.sh
~~~

~~~bash
mkdir build && cd build && cmake ..
sudo make install
~~~

### 2.1.1 启动
~~~bash
realsense-viewer
~~~

## 2.2 realsense-ros安装
都放在工作空间下，先安装ddynamic_reconfigure,编译后再下载realsense-ros编译
~~~bash
git clone https://gitee.com/linClubs/ddynamic_reconfigure.git
~~~

~~~bash
git clone https://gitee.com/linClubs/realsense-ros-2.3.2.git
~~~

### 2.2.1 启动

依赖包
~~~bash
sudo apt install ros-melodic-rgbd-launch
~~~

启动相机
~~~bash
roslaunch realsense2_camera rs_rgbd.launch
~~~