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Velodyne 激光雷达

系统环境：

  • Ubuntu18.04.5 LTS aarch64
  • Kernel 4.9.140-tegra
  • ROS melodic 1.14.11

硬件：

  • Jetson Xaiver NX / NUC / EPYC
  • intel D435i

待解决问题：

  • -

驱动安装:

Download tar.gz
Github librealsense

cd librealsense
sudo apt update && sudo apt -y upgrade
sudo apt-get install -y git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
sudo apt-get install -y libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev
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
sudo make uninstall
make clean
make ##不能多核编译，会报错(应该是内存不足原因)
sudo make install

测试(可选)

realsense-viewer

ROS包安装

Github: realsense-ros

来源：