参考：
D435在ROS下的使用
官网：https://github.com/intel-ros/realsense
1 安装ROS Wrapper for Intel® RealSense™ Devices
- 创建catkin workspace
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src/
- clone
git clone https://github.com/intel-ros/realsense.git
- make
catkin_init_workspace
cd ..
catkin_make clean
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
catkin_make install
- source
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
2 使用D435
- 开始相机节点
sudo apt-get install ros-kinetic-rgbd-launch
- RGBD点云
roslaunch realsense2_camera rs_rgbd.launch
- 在rviz中查看点云
rosrun rviz rviz
add -> by topic -> depth_registered -> rgbd points
