创建ROS工作空间
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make
bim@bim-Vostro-7570:~/catkin_ws$ bim@bim-Vostro-7570:~/catkin_ws$ catkin_make Base path: /home/bim/catkin_ws Source space: /home/bim/catkin_ws/src Build space: /home/bim/catkin_ws/build Devel space: /home/bim/catkin_ws/devel Install space: /home/bim/catkin_ws/install Creating symlink "/home/bim/catkin_ws/src/CMakeLists.txt" pointing to "/opt/ros/melodic/share/catkin/cmake/toplevel.cmake" #### #### Running command: "cmake /home/bim/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/home/bim/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/bim/catkin_ws/install -G Unix Makefiles" in "/home/bim/catkin_ws/build" #### -- The C compiler identification is GNU 7.5.0 -- The CXX compiler identification is GNU 7.5.0 -- Check for working C compiler: /usr/bin/cc -- Check for working C compiler: /usr/bin/cc -- works -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Detecting C compile features -- Detecting C compile features - done -- Check for working CXX compiler: /usr/bin/c++ -- Check for working CXX compiler: /usr/bin/c++ -- works -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Detecting CXX compile features -- Detecting CXX compile features - done -- Using CATKIN_DEVEL_PREFIX: /home/bim/catkin_ws/devel -- Using CMAKE_PREFIX_PATH: /opt/ros/melodic -- This workspace overlays: /opt/ros/melodic -- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2") -- Using PYTHON_EXECUTABLE: /usr/bin/python2 -- Using Debian Python package layout -- Using empy: /usr/bin/empy -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /home/bim/catkin_ws/build/test_results -- Found gtest sources under '/usr/src/googletest': gtests will be built -- Found gmock sources under '/usr/src/googletest': gmock will be built -- Found PythonInterp: /usr/bin/python2 (found version "2.7.17") -- Looking for pthread.h -- Looking for pthread.h - found -- Looking for pthread_create -- Looking for pthread_create - not found -- Looking for pthread_create in pthreads -- Looking for pthread_create in pthreads - not found -- Looking for pthread_create in pthread -- Looking for pthread_create in pthread - found -- Found Threads: TRUE -- Using Python nosetests: /usr/bin/nosetests-2.7 -- catkin 0.7.29 -- BUILD_SHARED_LIBS is on -- BUILD_SHARED_LIBS is on -- Configuring done -- Generating done -- Build files have been written to: /home/bim/catkin_ws/build #### #### Running command: "make -j8 -l8" in "/home/bim/catkin_ws/build" #### bim@bim-Vostro-7570:~/catkin_ws$ bim@bim-Vostro-7570:~/catkin_ws$
source devel/setup.bash
echo $ROS_PACKAGE_PATH
bim@bim-Vostro-7570:~/catkin_ws$ echo $ROS_PACKAGE_PATH /home/bim/catkin_ws/src:/opt/ros/melodic/share bim@bim-Vostro-7570:~/catkin_ws$ bim@bim-Vostro-7570:~/catkin_ws$
realsense-ros /src/
bim@bim-Vostro-7570:~/catkin_ws$ bim@bim-Vostro-7570:~/catkin_ws$ catkin_make Base path: /home/bim/catkin_ws Source space: /home/bim/catkin_ws/src Build space: /home/bim/catkin_ws/build Devel space: /home/bim/catkin_ws/devel Install space: /home/bim/catkin_ws/install #### #### Running command: "cmake /home/bim/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/home/bim/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/bim/catkin_ws/install -G Unix Makefiles" in "/home/bim/catkin_ws/build" #### -- Using CATKIN_DEVEL_PREFIX: /home/bim/catkin_ws/devel -- Using CMAKE_PREFIX_PATH: /opt/ros/melodic -- This workspace overlays: /opt/ros/melodic -- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2") -- Using PYTHON_EXECUTABLE: /usr/bin/python2 -- Using Debian Python package layout -- Using empy: /usr/bin/empy -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /home/bim/catkin_ws/build/test_results -- Found gtest sources under '/usr/src/googletest': gtests will be built -- Found gmock sources under '/usr/src/googletest': gmock will be built -- Found PythonInterp: /usr/bin/python2 (found version "2.7.17") -- Using Python nosetests: /usr/bin/nosetests-2.7 -- catkin 0.7.29 -- BUILD_SHARED_LIBS is on -- BUILD_SHARED_LIBS is on -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- ~~ traversing 3 packages in topological order: -- ~~ - realsense2_description -- ~~ - ddynamic_reconfigure -- ~~ - realsense2_camera -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- +++ processing catkin package: 'realsense2_description' -- ==> add_subdirectory(realsense-ros-2.3.2/realsense2_description) -- +++ processing catkin package: 'ddynamic_reconfigure' -- ==> add_subdirectory(ddynamic_reconfigure-0.4.1) -- +++ processing catkin package: 'realsense2_camera' -- ==> add_subdirectory(realsense-ros-2.3.2/realsense2_camera) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Create Release Build. -- realsense2_camera: 3 messages, 1 services -- Configuring done -- Generating done -- Build files have been written to: /home/bim/catkin_ws/build #### #### Running command: "make -j8 -l8" in "/home/bim/catkin_ws/build" #### Scanning dependencies of target roscpp_generate_messages_nodejs Scanning dependencies of target _catkin_empty_exported_target Scanning dependencies of target ddynamic_reconfigure Scanning dependencies of target roscpp_generate_messages_lisp Scanning dependencies of target std_msgs_generate_messages_py Scanning dependencies of target roscpp_generate_messages_eus Scanning dependencies of target bond_generate_messages_eus Scanning dependencies of target std_msgs_generate_messages_nodejs [ 0%] Built target bond_generate_messages_eus [ 0%] Built target roscpp_generate_messages_lisp [ 0%] Built target roscpp_generate_messages_eus [ 0%] Built target std_msgs_generate_messages_nodejs [ 0%] Built target roscpp_generate_messages_nodejs [ 0%] Built target std_msgs_generate_messages_py [ 0%] Built target _catkin_empty_exported_target Scanning dependencies of target dynamic_reconfigure_generate_messages_py Scanning dependencies of target rosgraph_msgs_generate_messages_py Scanning dependencies of target dynamic_reconfigure_generate_messages_nodejs Scanning dependencies of target std_msgs_generate_messages_cpp Scanning dependencies of target std_msgs_generate_messages_eus Scanning dependencies of target roscpp_generate_messages_py Scanning dependencies of target dynamic_reconfigure_generate_messages_eus [ 0%] Built target dynamic_reconfigure_generate_messages_nodejs [ 0%] Built target dynamic_reconfigure_generate_messages_py [ 2%] Building CXX object ddynamic_reconfigure-0.4.1/CMakeFiles/ddynamic_reconfigure.dir/src/ddynamic_reconfigure.cpp.o [ 2%] Built target std_msgs_generate_messages_cpp [ 2%] Built target rosgraph_msgs_generate_messages_py [ 2%] Built target roscpp_generate_messages_py [ 2%] Built target std_msgs_generate_messages_eus [ 2%] Built target dynamic_reconfigure_generate_messages_eus Scanning dependencies of target rosgraph_msgs_generate_messages_cpp Scanning dependencies of target dynamic_reconfigure_generate_messages_cpp Scanning dependencies of target rosgraph_msgs_generate_messages_eus Scanning dependencies of target dynamic_reconfigure_generate_messages_lisp Scanning dependencies of target rosgraph_msgs_generate_messages_lisp Scanning dependencies of target dynamic_reconfigure_gencfg [ 2%] Built target dynamic_reconfigure_generate_messages_cpp Scanning dependencies of target std_msgs_generate_messages_lisp [ 2%] Built target rosgraph_msgs_generate_messages_cpp [ 2%] Built target rosgraph_msgs_generate_messages_eus [ 2%] Built target dynamic_reconfigure_generate_messages_lisp [ 2%] Built target rosgraph_msgs_generate_messages_lisp [ 2%] Built target dynamic_reconfigure_gencfg Scanning dependencies of target rosgraph_msgs_generate_messages_nodejs [ 2%] Built target std_msgs_generate_messages_lisp Scanning dependencies of target roscpp_generate_messages_cpp Scanning dependencies of target diagnostic_msgs_generate_messages_lisp Scanning dependencies of target diagnostic_msgs_generate_messages_nodejs Scanning dependencies of target diagnostic_msgs_generate_messages_eus Scanning dependencies of target tf2_msgs_generate_messages_nodejs [ 2%] Built target rosgraph_msgs_generate_messages_nodejs [ 2%] Built target roscpp_generate_messages_cpp Scanning dependencies of target tf2_msgs_generate_messages_py [ 2%] Built target diagnostic_msgs_generate_messages_lisp [ 2%] Built target diagnostic_msgs_generate_messages_eus [ 2%] Built target diagnostic_msgs_generate_messages_nodejs [ 2%] Built target tf2_msgs_generate_messages_nodejs Scanning dependencies of target tf2_msgs_generate_messages_lisp Scanning dependencies of target tf2_msgs_generate_messages_eus [ 2%] Built target tf2_msgs_generate_messages_py Scanning dependencies of target tf2_msgs_generate_messages_cpp Scanning dependencies of target actionlib_generate_messages_nodejs Scanning dependencies of target actionlib_generate_messages_py [ 2%] Built target tf2_msgs_generate_messages_lisp Scanning dependencies of target actionlib_generate_messages_eus [ 2%] Built target tf2_msgs_generate_messages_eus Scanning dependencies of target tf_generate_messages_nodejs [ 2%] Built target tf2_msgs_generate_messages_cpp [ 2%] Built target actionlib_generate_messages_py [ 2%] Built target actionlib_generate_messages_nodejs Scanning dependencies of target tf_generate_messages_lisp Scanning dependencies of target actionlib_msgs_generate_messages_py [ 2%] Built target actionlib_generate_messages_eus [ 2%] Built target tf_generate_messages_nodejs Scanning dependencies of target bond_generate_messages_lisp Scanning dependencies of target _realsense2_camera_generate_messages_check_deps_IMUInfo Scanning dependencies of target _realsense2_camera_generate_messages_check_deps_Extrinsics [ 2%] Built target tf_generate_messages_lisp Scanning dependencies of target _realsense2_camera_generate_messages_check_deps_Metadata Scanning dependencies of target _realsense2_camera_generate_messages_check_deps_DeviceInfo [ 2%] Built target actionlib_msgs_generate_messages_py [ 2%] Built target bond_generate_messages_lisp Scanning dependencies of target sensor_msgs_generate_messages_cpp Scanning dependencies of target actionlib_msgs_generate_messages_nodejs Scanning dependencies of target diagnostic_msgs_generate_messages_cpp [ 2%] Built target sensor_msgs_generate_messages_cpp [ 2%] Built target actionlib_msgs_generate_messages_nodejs [ 2%] Built target _realsense2_camera_generate_messages_check_deps_IMUInfo Scanning dependencies of target actionlib_msgs_generate_messages_lisp [ 2%] Built target _realsense2_camera_generate_messages_check_deps_Extrinsics [ 2%] Built target diagnostic_msgs_generate_messages_cpp [ 2%] Built target _realsense2_camera_generate_messages_check_deps_DeviceInfo [ 2%] Built target _realsense2_camera_generate_messages_check_deps_Metadata Scanning dependencies of target geometry_msgs_generate_messages_nodejs Scanning dependencies of target geometry_msgs_generate_messages_py [ 2%] Built target actionlib_msgs_generate_messages_lisp Scanning dependencies of target nav_msgs_generate_messages_lisp Scanning dependencies of target actionlib_msgs_generate_messages_eus Scanning dependencies of target sensor_msgs_generate_messages_eus Scanning dependencies of target nodelet_generate_messages_lisp [ 2%] Built target geometry_msgs_generate_messages_nodejs [ 2%] Built target geometry_msgs_generate_messages_py Scanning dependencies of target tf_generate_messages_cpp [ 2%] Built target sensor_msgs_generate_messages_eus [ 2%] Built target nodelet_generate_messages_lisp [ 2%] Built target actionlib_msgs_generate_messages_eus [ 2%] Built target nav_msgs_generate_messages_lisp Scanning dependencies of target geometry_msgs_generate_messages_eus Scanning dependencies of target nav_msgs_generate_messages_eus [ 2%] Built target tf_generate_messages_cpp Scanning dependencies of target nav_msgs_generate_messages_nodejs Scanning dependencies of target actionlib_msgs_generate_messages_cpp Scanning dependencies of target std_srvs_generate_messages_cpp Scanning dependencies of target nav_msgs_generate_messages_py [ 2%] Built target geometry_msgs_generate_messages_eus [ 2%] Built target nav_msgs_generate_messages_nodejs [ 2%] Built target nav_msgs_generate_messages_eus Scanning dependencies of target std_srvs_generate_messages_lisp [ 2%] Built target actionlib_msgs_generate_messages_cpp [ 2%] Built target std_srvs_generate_messages_cpp [ 2%] Built target nav_msgs_generate_messages_py Scanning dependencies of target tf_generate_messages_eus Scanning dependencies of target nav_msgs_generate_messages_cpp [ 2%] Built target std_srvs_generate_messages_lisp Scanning dependencies of target bond_generate_messages_cpp Scanning dependencies of target geometry_msgs_generate_messages_lisp Scanning dependencies of target geometry_msgs_generate_messages_cpp Scanning dependencies of target std_srvs_generate_messages_eus [ 2%] Built target tf_generate_messages_eus Scanning dependencies of target sensor_msgs_generate_messages_lisp [ 2%] Built target nav_msgs_generate_messages_cpp [ 2%] Built target bond_generate_messages_cpp [ 2%] Built target geometry_msgs_generate_messages_lisp [ 2%] Built target geometry_msgs_generate_messages_cpp [ 2%] Built target std_srvs_generate_messages_eus Scanning dependencies of target actionlib_generate_messages_cpp Scanning dependencies of target sensor_msgs_generate_messages_nodejs [ 2%] Built target sensor_msgs_generate_messages_lisp Scanning dependencies of target tf_generate_messages_py Scanning dependencies of target sensor_msgs_generate_messages_py Scanning dependencies of target std_srvs_generate_messages_py [ 2%] Built target sensor_msgs_generate_messages_nodejs Scanning dependencies of target actionlib_generate_messages_lisp [ 2%] Built target actionlib_generate_messages_cpp [ 2%] Built target tf_generate_messages_py [ 2%] Built target sensor_msgs_generate_messages_py Scanning dependencies of target std_srvs_generate_messages_nodejs [ 2%] Built target std_srvs_generate_messages_py Scanning dependencies of target bond_generate_messages_py Scanning dependencies of target nodelet_generate_messages_cpp [ 2%] Built target actionlib_generate_messages_lisp Scanning dependencies of target diagnostic_msgs_generate_messages_py Scanning dependencies of target nodelet_generate_messages_eus [ 2%] Built target std_srvs_generate_messages_nodejs Scanning dependencies of target nodelet_generate_messages_nodejs [ 2%] Built target bond_generate_messages_py Scanning dependencies of target nodelet_generate_messages_py [ 2%] Built target nodelet_generate_messages_cpp [ 2%] Built target nodelet_generate_messages_eus Scanning dependencies of target bond_generate_messages_nodejs [ 2%] Built target nodelet_generate_messages_nodejs [ 2%] Built target diagnostic_msgs_generate_messages_py Scanning dependencies of target realsense2_camera_generate_messages_lisp [ 2%] Built target nodelet_generate_messages_py Scanning dependencies of target realsense2_camera_generate_messages_nodejs [ 2%] Built target bond_generate_messages_nodejs Scanning dependencies of target realsense2_camera_generate_messages_eus Scanning dependencies of target realsense2_camera_generate_messages_cpp Scanning dependencies of target realsense2_camera_generate_messages_py [ 5%] Generating Lisp code from realsense2_camera/Metadata.msg [ 8%] Generating Lisp code from realsense2_camera/IMUInfo.msg [ 11%] Generating Javascript code from realsense2_camera/IMUInfo.msg [ 14%] Generating Javascript code from realsense2_camera/Metadata.msg [ 17%] Generating EusLisp code from realsense2_camera/IMUInfo.msg [ 20%] Generating C++ code from realsense2_camera/IMUInfo.msg [ 22%] Generating Python from MSG realsense2_camera/IMUInfo [ 28%] Generating Lisp code from realsense2_camera/Extrinsics.msg [ 28%] Generating Python from MSG realsense2_camera/Metadata [ 31%] Generating C++ code from realsense2_camera/Metadata.msg [ 34%] Generating Javascript code from realsense2_camera/Extrinsics.msg [ 37%] Generating EusLisp code from realsense2_camera/Metadata.msg [ 40%] Generating Lisp code from realsense2_camera/DeviceInfo.srv [ 42%] Generating Javascript code from realsense2_camera/DeviceInfo.srv [ 42%] Built target realsense2_camera_generate_messages_lisp [ 45%] Generating EusLisp code from realsense2_camera/Extrinsics.msg [ 45%] Built target realsense2_camera_generate_messages_nodejs [ 48%] Generating EusLisp code from realsense2_camera/DeviceInfo.srv [ 51%] Generating C++ code from realsense2_camera/Extrinsics.msg [ 54%] Generating EusLisp manifest code for realsense2_camera [ 57%] Generating C++ code from realsense2_camera/DeviceInfo.srv [ 60%] Generating Python code from SRV realsense2_camera/DeviceInfo [ 62%] Generating Python from MSG realsense2_camera/Extrinsics [ 65%] Generating Python msg __init__.py for realsense2_camera [ 68%] Generating Python srv __init__.py for realsense2_camera [ 68%] Built target realsense2_camera_generate_messages_cpp [ 68%] Built target realsense2_camera_generate_messages_py [ 68%] Built target realsense2_camera_generate_messages_eus Scanning dependencies of target realsense2_camera_generate_messages [ 68%] Built target realsense2_camera_generate_messages [ 71%] Linking CXX shared library /home/bim/catkin_ws/devel/lib/libddynamic_reconfigure.so [ 71%] Built target ddynamic_reconfigure Scanning dependencies of target ddynamic_reconfigure_auto_update_test Scanning dependencies of target test_bool_dynamic_reconfigure_server Scanning dependencies of target fake_dynamic_reconfigure_server Scanning dependencies of target realsense2_camera [ 77%] Building CXX object ddynamic_reconfigure-0.4.1/CMakeFiles/test_bool_dynamic_reconfigure_server.dir/test/test_bool_dynamic_reconfigure_server.cpp.o [ 80%] Building CXX object ddynamic_reconfigure-0.4.1/CMakeFiles/ddynamic_reconfigure_auto_update_test.dir/test/ddynamic_reconfigure_auto_update_test.cpp.o [ 80%] Building CXX object ddynamic_reconfigure-0.4.1/CMakeFiles/fake_dynamic_reconfigure_server.dir/test/fake_dynamic_reconfigure_server.cpp.o [ 85%] Building CXX object realsense-ros-2.3.2/realsense2_camera/CMakeFiles/realsense2_camera.dir/src/base_realsense_node.cpp.o [ 85%] Building CXX object realsense-ros-2.3.2/realsense2_camera/CMakeFiles/realsense2_camera.dir/src/realsense_node_factory.cpp.o [ 88%] Building CXX object realsense-ros-2.3.2/realsense2_camera/CMakeFiles/realsense2_camera.dir/src/t265_realsense_node.cpp.o [ 91%] Linking CXX executable /home/bim/catkin_ws/devel/lib/ddynamic_reconfigure/ddynamic_reconfigure_auto_update_test [ 94%] Linking CXX executable /home/bim/catkin_ws/devel/lib/ddynamic_reconfigure/test_bool_dynamic_reconfigure_server [ 94%] Built target ddynamic_reconfigure_auto_update_test [ 94%] Built target test_bool_dynamic_reconfigure_server [ 97%] Linking CXX executable /home/bim/catkin_ws/devel/lib/ddynamic_reconfigure/fake_dynamic_reconfigure_server [ 97%] Built target fake_dynamic_reconfigure_server [100%] Linking CXX shared library /home/bim/catkin_ws/devel/lib/librealsense2_camera.so [100%] Built target realsense2_camera bim@bim-Vostro-7570:~/catkin_ws$
bim@bim-Vostro-7570:~/catkin_ws$
bim@bim-Vostro-7570:~/catkin_ws$ source devel/setup.bash
bim@bim-Vostro-7570:~/catkin_ws$
roslaunch realsense2_camera demo_pointcloud.launch
bim@bim-Vostro-7570:~/catkin_ws$
bim@bim-Vostro-7570:~/catkin_ws$ roslaunch realsense2_camera demo_pointcloud.launch
... logging to /home/bim/.ros/log/dc668b8a-bbe6-11ee-a111-e470b83aa6e2/roslaunch-bim-Vostro-7570-3909.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://bim-Vostro-7570:42851/
SUMMARY
========
PARAMETERS
* /camera/realsense2_camera/accel_fps: 0
* /camera/realsense2_camera/accel_frame_id: camera_accel_frame
* /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti...
* /camera/realsense2_camera/align_depth: False
* /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de...
* /camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de...
* /camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de...
* /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de...
* /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de...
* /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de...
* /camera/realsense2_camera/allow_no_texture_points: False
* /camera/realsense2_camera/base_frame_id: camera_link
* /camera/realsense2_camera/calib_odom_file:
* /camera/realsense2_camera/clip_distance: -1.0
* /camera/realsense2_camera/color_fps: 30
* /camera/realsense2_camera/color_frame_id: camera_color_frame
* /camera/realsense2_camera/color_height: 480
* /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
* /camera/realsense2_camera/color_width: 640
* /camera/realsense2_camera/confidence_fps: 30
* /camera/realsense2_camera/confidence_height: 480
* /camera/realsense2_camera/confidence_width: 640
* /camera/realsense2_camera/depth_fps: 30
* /camera/realsense2_camera/depth_frame_id: camera_depth_frame
* /camera/realsense2_camera/depth_height: 480
* /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
* /camera/realsense2_camera/depth_width: 640
* /camera/realsense2_camera/device_type:
* /camera/realsense2_camera/enable_accel: False
* /camera/realsense2_camera/enable_color: True
* /camera/realsense2_camera/enable_confidence: True
* /camera/realsense2_camera/enable_depth: True
* /camera/realsense2_camera/enable_fisheye1: False
* /camera/realsense2_camera/enable_fisheye2: False
* /camera/realsense2_camera/enable_fisheye: False
* /camera/realsense2_camera/enable_gyro: False
* /camera/realsense2_camera/enable_infra1: False
* /camera/realsense2_camera/enable_infra2: False
* /camera/realsense2_camera/enable_infra: False
* /camera/realsense2_camera/enable_pointcloud: True
* /camera/realsense2_camera/enable_pose: False
* /camera/realsense2_camera/enable_sync: True
* /camera/realsense2_camera/filters:
* /camera/realsense2_camera/fisheye1_frame_id: camera_fisheye1_f...
* /camera/realsense2_camera/fisheye1_optical_frame_id: camera_fisheye1_o...
* /camera/realsense2_camera/fisheye2_frame_id: camera_fisheye2_f...
* /camera/realsense2_camera/fisheye2_optical_frame_id: camera_fisheye2_o...
* /camera/realsense2_camera/fisheye_fps: 30
* /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
* /camera/realsense2_camera/fisheye_height: 0
* /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
* /camera/realsense2_camera/fisheye_width: 0
* /camera/realsense2_camera/gyro_fps: 0
* /camera/realsense2_camera/gyro_frame_id: camera_gyro_frame
* /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic...
* /camera/realsense2_camera/imu_optical_frame_id: camera_imu_optica...
* /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame
* /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt...
* /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame
* /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt...
* /camera/realsense2_camera/infra_fps: 30
* /camera/realsense2_camera/infra_height: 480
* /camera/realsense2_camera/infra_rgb: False
* /camera/realsense2_camera/infra_width: 640
* /camera/realsense2_camera/initial_reset: False
* /camera/realsense2_camera/json_file_path:
* /camera/realsense2_camera/linear_accel_cov: 0.01
* /camera/realsense2_camera/odom_frame_id: camera_odom_frame
* /camera/realsense2_camera/ordered_pc: False
* /camera/realsense2_camera/pointcloud_texture_index: 0
* /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
* /camera/realsense2_camera/pose_frame_id: camera_pose_frame
* /camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic...
* /camera/realsense2_camera/publish_odom_tf: True
* /camera/realsense2_camera/publish_tf: True
* /camera/realsense2_camera/reconnect_timeout: 6.0
* /camera/realsense2_camera/rosbag_filename:
* /camera/realsense2_camera/serial_no:
* /camera/realsense2_camera/stereo_module/exposure/1: 7500
* /camera/realsense2_camera/stereo_module/exposure/2: 1
* /camera/realsense2_camera/stereo_module/gain/1: 16
* /camera/realsense2_camera/stereo_module/gain/2: 16
* /camera/realsense2_camera/tf_publish_rate: 0.0
* /camera/realsense2_camera/topic_odom_in: camera/odom_in
* /camera/realsense2_camera/unite_imu_method: none
* /camera/realsense2_camera/usb_port_id:
* /camera/realsense2_camera/wait_for_device_timeout: -1.0
* /rosdistro: melodic
* /rosversion: 1.14.13
NODES
/camera/
realsense2_camera (nodelet/nodelet)
realsense2_camera_manager (nodelet/nodelet)
rviz (rviz/rviz)
auto-starting new master
process[master]: started with pid [3925]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to dc668b8a-bbe6-11ee-a111-e470b83aa6e2
process[rosout-1]: started with pid [3938]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [3955]
process[camera/realsense2_camera-3]: started with pid [3956]
process[camera/rviz-4]: started with pid [3957]
[ INFO] [1706231072.343765512]: Initializing nodelet with 8 worker threads.
[ INFO] [1706231072.895690235]: RealSense ROS v2.3.2
[ INFO] [1706231072.895812521]: Built with LibRealSense v2.50.0
[ INFO] [1706231072.895909109]: Running with LibRealSense v2.50.0
[ INFO] [1706231072.960174362]:
[ INFO] [1706231072.968745609]: Device with serial number 943222071573 was found.
[ INFO] [1706231072.968800934]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.0/video4linux/video0 was found.
[ INFO] [1706231072.968839179]: Device with name Intel RealSense D435I was found.
[ INFO] [1706231072.970002108]: Device with port number 2-1 was found.
[ INFO] [1706231072.970054351]: Device USB type: 3.2
[ INFO] [1706231072.973113587]: getParameters...
[ INFO] [1706231073.065456794]: setupDevice...
[ INFO] [1706231073.065509447]: JSON file is not provided
[ INFO] [1706231073.065534128]: ROS Node Namespace: camera
[ INFO] [1706231073.065559465]: Device Name: Intel RealSense D435I
[ INFO] [1706231073.065582258]: Device Serial No: 943222071573
[ INFO] [1706231073.065607835]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.0/video4linux/video0
[ INFO] [1706231073.065629109]: Device FW version: 05.15.01.00
[ INFO] [1706231073.065650151]: Device Product ID: 0x0B3A
[ INFO] [1706231073.065670349]: Enable PointCloud: On
[ INFO] [1706231073.065725123]: Align Depth: Off
[ INFO] [1706231073.065744799]: Sync Mode: On
[ INFO] [1706231073.065807421]: Device Sensors:
[ INFO] [1706231073.070912580]: Stereo Module was found.
26/01 09:04:33,071 WARNING [139819683608320] (backend-v4l2.cpp:1387) Pixel format 36315752-1a66-a242-9065-d01814a likely requires patch for fourcc code RW16!
[ INFO] [1706231073.083471976]: RGB Camera was found.
[ INFO] [1706231073.083723913]: Motion Module was found.
[ INFO] [1706231073.083799677]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1706231073.083904464]: Add Filter: pointcloud
[ INFO] [1706231073.084684731]: num_filters: 1
[ INFO] [1706231073.084713294]: Setting Dynamic reconfig parameters.
hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready)
hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready)
hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready)
hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready)
[ WARN] [1706231073.138940977]: Param '/camera/rgb_camera/power_line_frequency' has value 3 that is not in the enum { {50Hz: 1} {60Hz: 2} {Disabled: 0} }. Removing this parameter from dynamic reconfigure options.
[ INFO] [1706231073.159874524]: Done Setting Dynamic reconfig parameters.
[ INFO] [1706231073.161781046]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16
[ INFO] [1706231073.162327561]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8
[ INFO] [1706231073.162382298]: setupPublishers...
[ INFO] [1706231073.167388433]: Expected frequency for depth = 30.00000
[ INFO] [1706231073.221876139]: Expected frequency for color = 30.00000
[ INFO] [1706231073.251784267]: setupStreams...
[ INFO] [1706231073.264930195]: SELECTED BASE:Depth, 0
[ INFO] [1706231073.291431574]: RealSense Node Is Up!
[ WARN] [1706231073.387452043]: Frame metadata isn't available! (frame_timestamp_domain = RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME)
26/01 09:04:33,384 WARNING [139819205359360] (ds5-timestamp.cpp:69) UVC metadata payloads not available. Please refer to the installation chapter for details.
[ INFO] [1706231073.394498127]: publishing unordered pointcloud.
[ WARN] [1706231073.517756262]: No stream match for pointcloud chosen texture Process - Color
26/01 09:04:33,709 WARNING [139819214370560] (ds5-timestamp.cpp:69) UVC metadata payloads not available. Please refer to the installation chapter for details.
================================================================================REQUIRED process [camera/rviz-4] has died!
process has finished cleanly
log file: /home/bim/.ros/log/dc668b8a-bbe6-11ee-a111-e470b83aa6e2/camera-rviz-4*.log
Initiating shutdown!
================================================================================
[camera/rviz-4] killing on exit
[camera/realsense2_camera-3] killing on exit
[camera/realsense2_camera_manager-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
bim@bim-Vostro-7570:~/catkin_ws$
bim@bim-Vostro-7570:~/catkin_ws$
https://zhuanlan.zhihu.com/p/614797635
#############################
标签：Scanning,target,创建,messages,dependencies,空间,ROS,generate,Built From： https://www.cnblogs.com/herd/p/17988552