# Driver-PKG1

**Repository Path**: linClubs/driver_pkg1

## Basic Information

- **Project Name**: Driver-PKG1
- **Description**: realsense相机(d435i,d455) ；奥比中光（大白）；览沃livox激光雷达；imu（CH110）等ros驱动包
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 1
- **Created**: 2023-07-03
- **Last Updated**: 2024-03-04

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README


# 0 下载

~~~
git clone https://gitee.com/linClubs/driver_pkg.git
~~~

# 1 realsense_ros_2.3.2

[realsense_ros_2.3.2](https://gitee.com/linClubs/driver_pkg/tree/master/realsense_ros_2.3.2)

~~~python
# 1 安装librealsense2-dev
## 1.1 添加仓库秘钥
sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE

## 1.2 添加仓库源 如果超时$(lsb_release -cs)换成bionic或者focal
sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u

## 1.3 更新
sudo apt update

## 1.4 安装dkms与utils
# dkms与utils作用：部署librealsense2 udev规则，构建和激活内核模块，运行时库以及可执行的演示和工具
# librealsense2-dkms安装失败就不安装
sudo apt-get install librealsense2-dkms librealsense2-utils

## 1.5 安装librealsense2-dev
sudo apt-get install librealsense2-dev

# 2 安装realsense2-ros依赖
sudo apt-get install ros-$ROS_DISTRO-ddynamic-reconfigure ros-$ROS_DISTRO-rgbd-launch

# 3 安装realsense2-ros
# 这是二进制安装，如果是多相机, 还需要设备号功能包
sudo apt-get install ros-noetic-realsense2-camera
~~~

# 2 ros_astra_camera

[ros_astra_camera](https://gitee.com/linClubs/driver_pkg/tree/master/ros_astra_camera)

~~~python
# 1 安装依赖
sudo apt install ros-$ROS_DISTRO-libuvc-ros libgoogle-glog-dev

# 2 Install udev rules.
source devel/setup.bash && rospack list
roscd astra_camera
./scripts/create_udev_rules
sudo udevadm control --reload && sudo  udevadm trigger

# 3 编译ros_astra_camera
catkin_make

# 4 启动
roslaunch astra_camera astra.launch

roslaunch astra_camera dabai.launch
~~~





# 3 imu_pkg

[imu_pkg](https://gitee.com/linClubs/driver_pkg/tree/master/imu_pkg)

~~~python
sudo apt install ros-noetic-serial
~~~

# 4 livox

[livox](https://gitee.com/linClubs/driver_pkg/tree/master/livox)

[览沃ros驱动中文简介](https://gitee.com/linClubs/driver_pkg/blob/master/livox/livox_ros_driver/README_CN.md)

~~~python
 #1 编译安装Livox-SDK
cd Livox-SDK
cd build && cmake ..

# 2 编译安装SDK
make
sudo make install

# 3 编译livox_ros_driver
catkin_make
~~~