ROS 学习- 第15日 Joule + D435 test

1. 用 1H3版本刷Joule 570x Bios. 
2. 用 joule 专用 linux 刷机.
3. ubuntu 进行apt update/dist-upgrade
4. 按照 /blob/development/.travis.yml 进行安装.
    

### librealsense
- echo 'deb  xenial main' || sudo tee /etc/apt/sources.list.d/realsense-public.list
  # - sudo apt-key adv --keyserver keys.gnupg.net --recv-key C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keys.gnupg.net:80 --recv-key C8B3A55A6F3EFCDE
  - sudo add-apt-repository "deb  xenial main"
  - sudo apt-get update -qq
  - sudo apt-get install librealsense2-dkms --allow-unauthenticated -y
  - sudo apt-get install librealsense2-dev --allow-unauthenticated -y

install ROS:
  因为不能翻墙, 只能用国内运营商缓冲的内容
  
sudo sh -c '. /etc/lsb-release && echo "deb  $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
或者
sudo sh -c '. /etc/lsb-release && echo "deb  $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
  - sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

- sudo apt-get update && sudo apt-get upgrade -y

    然后 

vi /etc/apt/sources.list
然后改为以下内容：

deb http://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse

sudo apt-get update 

 sudo apt-get install ros-kinetic-desktop-full
  sudo apt-get install ros-kinetic-rqt*

- sudo apt-get install ros-kinetic-ros-base python-rosinstall ros-kinetic-rosbash ros-kinetic-openni-launch ros-kinetic-rviz ros-kinetic-uvc-camera  ros-kinetic-camera-calibration ros-kinetic-librealsense ros-kinetic-realsense-camera ros-kinetic-hls-lfcd-lds-driver ros-kinetic-cv-bridge ros-kinetic-find-object-2d ros-kinetic-rosserial ros-kinetic-rosserial-server ros-kinetic-rosserial-arduino ros-kinetic-joy ros-kinetic-teleop-twist-joy ros-kinetic-teleop-twist-keyboard ros-kinetic-laser-proc ros-kinetic-rgbd-launch ros-kinetic-depthimage-to-laserscan ros-kinetic-rosserial-arduino ros-kinetic-rosserial-python ros-kinetic-rosserial-server ros-kinetic-rosserial-client ros-kinetic-rosserial-msgs ros-kinetic-amcl ros-kinetic-map-server ros-kinetic-move-base ros-kinetic-urdf ros-kinetic-xacro ros-kinetic-compressed-image-transport ros-kinetic-rqt-image-view ros-kinetic-gmapping ros-kinetic-navigation ros-kinetic-ros-controllers ros-kinetic-gazebo* ros-kinetic-moveit* ros-kinetic-dynamixel-sdk ros-kinetic-dynamixel-workbench-toolbox ros-kinetic-robotis-math ros-kinetic-industrial-core  -y
- sudo apt-get install -y chrony ntpdate git qtcreator libopencv-dev libqt4-dev libncurses5-dev:i386 openjdk-8-jdk ros-kinetic-rosjava-build-tools lib32z1 lib32ncurses5 lib32stdc++6
  - sudo rosdep init
  - rosdep update
  - echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
  - sudo apt-get install ros-kinetic-cv-bridge -y
  - sudo apt-get install ros-kinetic-image-transport
  - sudo apt-get install ros-kinetic-tf -y
  - sudo apt-get install ros-kinetic-diagnostic-updater -y
  - source ~/.bashrc
  - mkdir -p ~/catkin_ws/src/realsense
  - cd ~/catkin_ws/src/; git clone

  # install realsense2-camera
  - cd ~/catkin_ws/src
  - catkin_init_workspace
  - cd ..
  - catkin_make clean
  - catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
  - catkin_make install
  - echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
  - source ~/.bashrc

    # download data:
  - bag_filename="";
  - wget $bag_filename -P "records/"

  # Run test:
script:
  - python src/realsense/realsense2_camera/scripts/rs2_test.py --all

执行 (具体参考  )
    sudo apt-get install ros-kinetic-rgbd-launch
    roslaunch realsense2_camera rs_camera.launch
    roslaunch realsense2_camera rs_rgbd.launch
    roslaunch realsense2_camera rs_aligned_depth.launch
    rosrun rqt_reconfigure rqt_reconfigure
    一下还有多个摄像头的情况