树莓派5+ros2 jazzy+d435i+orb-slam3

树莓派5 16g

ubuntu24.04 server

1.鱼香ros一键安装（ros2 jazzy+清华源）

wget http://fishros.com/install -O fishros && . fishros

2.安装依赖

sudo apt update && sudo apt upgrade -y sudo apt install -y cmake g++ gcc git build-essential \ libusb-1.0-0-dev libssl-dev libudev-dev pkg-config libgtk-3-dev \ libglfw3-dev libgl1-mesa-dev libglu1-mesa libglew-dev \ libopencv-dev python3-opencv \ ros-jazzy-cv-bridge ros-jazzy-vision-opencv

3.增加 Swap (编译防崩溃)

sudo fallocate -l 4G /swapfile sudo chmod 600 /swapfile sudo mkswap /swapfile sudo swapon /swapfile # 设置开机自动挂载 echo '/swapfile none swap sw 0 0' | sudo tee -a /etc/fstab

4.命令

source install/setup.bash ros2 launch realsense2_camera rs_launch.py enable_color:=false enable_depth:=false enable_infra1:=true enable_infra2:=true enable_gyro:=true enable_accel:=true unite_imu_method:=2 depth_module.infra_profile:=640x480x15 depth_module.emitter_enabled:=0 initial_reset:=true ros2 run orbslam3 stereo-inertial /home/liyy/ros2_ws/src/orbslam3_ros2/vocabulary/ORBvoc.txt /home/liyy/ros2_ws/src/orbslam3_ros2/config/stereo-inertial/RealSense_D435i_Real.yaml false