双系统Ubuntu 18.04 + ROS Melodic + openvins + Realsense L515 环境配置

电脑图标右键“管理”–“磁盘管理” ，选择空闲空间的D或E盘右键“压缩卷”压缩102400（100G）
下载ubuntu-18.04.6-desktop-amd64.iso

https://repo.huaweicloud.com/ubuntu-releases/18.04/

准备2GB以上U盘，清空
下载，并运行Rufus，选择ubuntu-18.04.6-desktop-amd64.iso，其他全默认
状态为准备就绪后关闭

http://rufus.ie

U盘保持插入状态，开机且在进入系统前进入Boot mode(一般是猛按F12，具体根据电脑品牌查询）
选择UEFI:Generic Flash Disk … 回车
Install跟着步骤走，完事

参考方法二

https://zhuanlan.zhihu.com/p/61228593

（也可跳过准备工作）

https://blog.csdn.net/a805607966/article/details/105874756?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522164180318616780357293970%2522%252C%2522scm%2522%253A%252220140713.130102334..%2522%257D&request_id=164180318616780357293970&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~top_click~default-1-105874756.first_rank_v2_pc_rank_v29&utm_term=ubuntu%E5%AE%89%E8%A3%85%E4%B8%AD%E6%96%87%E8%BE%93%E5%85%A5%E6%B3%95&spm=1018.2226.3001.4187

官网下deb包

setting:On startup:Continue where you left off

https://chrome.google.com/webstore/detail/eye-protector/fgadnbmmolnmbkbklpaojbogcopipopl

https://blog.csdn.net/qq_41450811/article/details/99079041?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522164186594816780271534700%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=164186594816780271534700&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~first_rank_ecpm_v1~rank_v31_ecpm-1-99079041.pc_search_result_cache&utm_term=ubuntu18.04%E5%AE%89%E8%A3%85ros&spm=1018.2226.3001.4187

如果rosdep出错，参考如下：

http://obgeqwh.top/rosdep-update-read-operation-time-out

https://zhuanlan.zhihu.com/p/93814423

https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md

下面这个也得安装

sudo apt-get install librealsense2-dev
sudo apt-get install ros-melodic-ddynamic-reconfigure

realsense-viewer

连接L515测试有没有画面

https://github.com/IntelRealSense/realsense-ros

注：realsense-ros 要和 librealsense 版本匹配，比如 realsense-ros 是否Supported RealSense SDK
LibRealSense v2.50.0

使用USB2.0接入电脑时，需要修改图像及IMU信息节点才会正常发布：

roslaunch realsense2_camera rs_camera.launch

另一个端口：

rosrun rviz rviz -d display.rviz

将frame选为camera link，查看imu，image（需要调节topic为：/camera/imu /camera/color/image_raw ）是否正常显示

参考：

https://blog.csdn.net/hongliyu_lvliyu/article/details/115697202?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522164196497116780265481064%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fblog.%2522%257D&request_id=164196497116780265481064&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~blog~first_rank_ecpm_v1~rank_v31_ecpm-3-115697202.nonecase&utm_term=RGB-D%E7%9B%B8%E6%9C%BA%E5%BB%BA%E5%9B%BE&spm=1018.2226.3001.4450

更改pgeneva_ros_eth.launch，连接自己的相机，不使用数据包

source devel/setup.bash
roslaunch ov_msckf pgeneva_ros_eth.launch