Ubuntu 22.04安装RealSense SDK及ROS2环境使用指南 （从零开始配置RealSense相机，小白专属详细教程）

📌 文章SEO关键词：本文聚焦 Ubuntu 22.04 RealSense SDK安装、ROS2 RealSense相机驱动、realsense-ros配置教程、Intel RealSense相机标定 四大核心，手把手带你打通软硬件链路。

1 环境准备：Ubuntu 22.04 + ROS2 Humble

💻 Ubuntu 22.04 是长期支持版本，完美兼容Intel RealSense SDK。若尚未安装ROS2 Humble，请先配置：

      # 设置编码sudo apt update && sudo apt install localessudo locale-gen en_US en_US.UTF-8sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8export LANG=en_US.UTF-8sudo apt install software-properties-commonsudo add-apt-repository universesudo apt update && sudo apt install curl -ysudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpgecho "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/nullsudo apt updatesudo apt install ros-humble-desktop python3-argcomplete -yecho "source /opt/ros/humble/setup.bash" >> ~/.bashrcsource ~/.bashrc    

2 Ubuntu 22.04 RealSense SDK安装（官方apt仓库法）

推荐使用Intel官方apt源，一键安装内核模块、库和工具，省去编译烦恼，尤其适合新手完成Ubuntu 22.04 RealSense SDK安装。

      # 添加公钥sudo mkdir -p /etc/apt/keyringscurl -sSf https://librealsense.intel.com/Debian/librealsense.pgp | sudo tee /etc/apt/keyrings/librealsense.pgp > /dev/nullsudo sh -c ""echo "deb [signed-by=/etc/apt/keyrings/librealsense.pgp] https://librealsense.intel.com/Debian/apt-repo lsb_release -cs main" > /etc/apt/sources.list.d/librealsense.list""sudo apt updatesudo apt install librealsense2-dkms librealsense2-utils librealsense2-dev librealsense2-dbg -yrealsense-viewer    

若弹出相机画面，说明Ubuntu 22.04 RealSense SDK安装成功！🎯 注意：内核模块安装可能需要重启或手动加载 sudo modprobe uvcvideo。

3 ROS2 RealSense相机驱动——realsense-ros配置教程

现在进行ROS2 RealSense相机驱动的安装，官方包realsense-ros已全面支持ROS2 Humble。这里提供realsense-ros配置教程：

      # 创建工作区mkdir -p ~/realsense_ws/srccd ~/realsense_ws/srcgit clone https://github.com/IntelRealSense/realsense-ros.git -b ros2-developmentcd ~/realsense_wssudo apt install python3-pip -ysudo pip install colcon-common-extensionsrosdep updaterosdep install -i --from-path src --rosdistro humble -ycolcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Releaseecho "source ~/realsense_ws/install/setup.bash" >> ~/.bashrcsource ~/.bashrc    

4 启动相机并验证ROS2数据流

连接RealSense相机，运行ROS2 launch文件，即可在话题中获取深度/彩色/红外数据：

      # 启动realsense-ros节点（使用D435推荐参数）ros2 launch realsense2_camera rs_launch.py depth_module.depth_profile:=1280x720x30 rgb_camera.color_profile:=1280x720x30ros2 topic list | grep camera    

应出现 /camera/color/image_raw、/camera/depth/image_rect_raw 等话题，ROS2 RealSense相机驱动至此部署完成！

5 进阶：Intel RealSense相机标定与常见问题

为保证测量精度，建议进行Intel RealSense相机标定。官方提供rs-imu-calibration工具（若带IMU）和rs-calibrate靶纸标定。常见问题：

• 🔸 权限问题：将用户加入video组，sudo usermod -a -G video $USER
• 🔸 固件更新：rs-fw-update -f ～/Signed_Image_5_13_0_25.bin
• 🔸 多相机支持：设置serial_no:=<相机序列号>

✅ 至此，你已掌握Ubuntu 22.04安装RealSense SDK、ROS2 RealSense相机驱动配置及realsense-ros配置教程，并了解了Intel RealSense相机标定基础。从硬件连接到ROS2数据获取，全流程打通！

✨ 本文为纯小白量身定制，每一步均实测于Ubuntu 22.04 + ROS2 Humble，跟随操作零失败。✨