fast-drone-250采用的是v2.55.1的SDK和v2.3.2的realsense-ros,测试可以共存

!!!安装过程中不要连接相机

#下载SDK源码
git clone -b v2.48.0 https://github.com/IntelRealSense/librealsense
#二进制安装依赖
sudo apt-get install libudev-dev pkg-config libgtk-3-dev
sudo apt-get install libusb-1.0-0-dev pkg-config
sudo apt-get install libglfw3-dev
sudo apt-get install libssl-dev
#安装
cd librealsense
sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && udevadm trigger
mkdir build
cd build
cmake ../ -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=true
make
sudo make install
#测试,至此应该能看见图像
realsense-viewer


#安装realsense-ros
mkdir -p catkin_demo/src
cd catkin_demo/src
git clone -b v2.3.1 https://github.com/IntelRealSense/realsense-ros.git
git clone https://github.com/pal-robotics/ddynamic_reconfigure.git
cd ..
catkin_make
source devel/setup.bash
roslaunch realsense2_camera rs_t265.launch