# Librealsense2 Source: [https://docs.qualcomm.com/doc/80-65220-2Y/topic/librealsense2_5_2_2.html](https://docs.qualcomm.com/doc/80-65220-2Y/topic/librealsense2_5_2_2.html) Librealsense2 和 realsense2-camera 可以使 RealSense™ 摄像头 D455 在 RGB 或深度模式下正常工作。该应用程序可以按主题生成单目和深度信息。 Librealsense2 是 Intel^®^ RealSense™ SDK 2.0，一个用于 Intel^®^ RealSense™ 深度摄像头 D455 的跨平台库。它可以生成以下内容，例如 `rs-distance`、`rs-depth` 和 `rs-color` 二进制文件，以及 `librealsense2.so`。 Realsense2-camera 是 `realsense-ros` ROS2 包，即基于 Intel^®^ RealSense™ SDK 2.0 的 Intel^®^ RealSense^TM^ 深度摄像头的 ROS 封装。该图显示了 `librealsense2` 和 `realsense2_camera` 的 pipeline。Realsense2-camera 示例支持单目和深度模式。 Figure : Librealsense2 和 realsense2-camera pipeline 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有关 pipeline 流程中使用的 ROS 节点和主题的信息，参见 [Realsense2-camera 的 pipeline 流程](https://docs.qualcomm.com/doc/80-65220-2Y/topic/librealsense2_5_2_2.html#ID-concept-d32488e3898__section_qhf_3kj_wbc)。 ## 用例：运行开箱即用的 librealsense2 **前提条件：** - 编译并安装 QIRP SDK 和依赖项，参见[编译软件](https://docs.qualcomm.com/doc/80-65220-2Y/topic/build-the-software_4_1.html)和[刷写和安装](https://docs.qualcomm.com/doc/80-65220-2Y/topic/flash-and-install_4_3.html)。 - 已在“Permissive”模式下按照 [如何使用 SSH](https://docs.qualcomm.com/bundle/publicresource/topics/80-70014-254/how_to.html#how-to-ssh-) 中介绍的步骤启用 `SSH`。 - RealSense D455 摄像头已部署。 **步骤：** 1. 启动终端并运行以下命令，从而在设备上搭建 QIRP SDK 和 ROS2 环境。 ssh root@[ip-addr] (ssh) setenforce 0 (ssh) export HOME=/opt (ssh) source /opt/qcom/qirp-sdk/qirp-setup.sh (ssh) cd /opt/qcom/qirp-sdk/usr/bin (ssh) chmod 777 rs-* (ssh) rs-distance Copy to clipboard 2. 打开一个新的终端，运行以下命令以在设备上设置 QIRP SDK 和 ROS2 环境，并启动单目模式的 `realsense2_camera` ROS 节点。 (ssh) export HOME=/opt (ssh) source /opt/qcom/qirp-sdk/qirp-setup.sh (ssh) source /usr/bin/ros_setup.bash (ssh) ros2 launch realsense2_camera rs_launch.py enable_depth:=false rgb_camera.profile:=848x480x30 Copy to clipboard 3. 打开一个新的终端，运行以下命令以在设备上设置 QIRP SDK 和 ROS2 环境，并启动深度模式的 `realsense2_camera` ROS 节点。 (ssh) export HOME=/opt (ssh) source /opt/qcom/qirp-sdk/qirp-setup.sh (ssh) source /usr/bin/ros_setup.bash (ssh) ros2 launch realsense2_camera rs_launch.py enable_sync:=true align_depth.enable:=true rgb_camera.profile:=848x480x30 depth_module.profile:=848x480x30 Copy to clipboard ## Realsense2-camera 的 pipeline 流程 Table : Realsense2-camera pipeline 中使用的 ROS 主题 | ROS 主题 | 类型 | 发布方 | | --- | --- | --- | | /camera/color/image_rawCopy to clipboard | Copy to clipboard | realsense2-camera 节点 | | /camera/color/camera_infoCopy to clipboard | Copy to clipboard | realsense2-camera 节点 | | /camera/imuCopy to clipboard | Copy to clipboard | realsense2-camera 节点 | | /camera/aligned_depth_to_color/camera_infoCopy to clipboard | Copy to clipboard | realsense2-camera 节点 | | /camera/aligned_depth_to_color/image_rawCopy to clipboard | Copy to clipboard | realsense2-camera 节点 | | /camera/extrinsics/depth_to_colorCopy to clipboard | Copy to clipboard | realsense2-camera 节点 | **Parent Topic:** [开源示例](https://docs.qualcomm.com/doc/80-65220-2Y/topic/open-source-samples_5_2.html) Last Published: Aug 09, 2024 [Previous Topic Nav2-bringup](https://docs.qualcomm.com/bundle/publicresource/80-65220-2Y/topics/nav2-bringup_5_2_1.md) [Next Topic Rplidar-ros2](https://docs.qualcomm.com/bundle/publicresource/80-65220-2Y/topics/rplidar-ros2_5_2_3.md)