Intel RealSense D455深度相机安装过程遇到过一些报错，所以记录一下安装过程！！！以后方便回顾。

1.安装最新的IntelRealSense SDK2.0

(1) 注册服务器的公钥

sudo apt-get update && sudo apt-get upgrade && sudo apt-get dist-upgrade
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE

(2) 将服务器添加到存储库列表中

sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u

(3) 安装SDK2

安装依赖：

sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils

如果安装realsense-ros，还需以下依赖：

sudo apt-get install librealsense2-dev
sudo apt-get install librealsense2-dbg

2.测试相机的连接

(1)查看设备号

将深度相机连接到电脑，终端输入：

   ls /dev/video*

(2)启动realsense-viewer

D455相机需要USB3.0及以上接口，才能正常的传输数据，终端输入，读取相机的数据：

realsense-viewer

连接成功的效果如下：

3.安装realsense-ros驱动

(1)创建工作空间

mkdir -p d455_ws/src
cd d455_ws/src

(2)下载realsense-ros

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

(3)将当前分支切换到最新版本

 cd realsense-ros/git checkout `git tag | sort -V | grep -P "^2.\d+\.\d+" | tail -1`cd ..

(4)安装依赖

 sudo apt-get install ros-noetic-ddynamic-reconfigure

(5)编译运行

cd /d455_ws
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release

但这一步编译一直报错：

CMake Warning at realsense-ros/realsense2_camera/CMakeLists.txt:44 (find_package):Found package configuration file:/usr/lib/x86_64-linux-gnu/cmake/realsense2/realsense2Config.cmakebut it set realsense2_FOUND to FALSE so package "realsense2" is consideredto be NOT FOUND.  Reason given by package:The following imported targets are referenced, but are missing: fastcdrfastrtps
CMake Error at realsense-ros/realsense2_camera/CMakeLists.txt:48 (message):Intel RealSense SDK 2.0 is missing, please install it from https://github.com/IntelRealSense/librealsense/releases-- Configuring incomplete, errors occurred!
See also "/home/mjc/d455_ws/build/CMakeFiles/CMakeOutput.log".
Invoking "cmake" failed

网上查了很多原因，截至2025.9.12，只有这个办法适合我，那就是降级安装：

https://github.com/IntelRealSense/librealsense/issues/14158

报错解决：

1. 降级到 RealSense v2.55.1

# 1.降级安装
sudo apt install --allow-downgrades librealsense2=2.55.1* librealsense2-dev=2.55.1*# 2.同时安装其他相关包的对应版本
sudo apt install --allow-downgrades librealsense2-dkms=1.3.* librealsense2-utils=2.55.1*# 3.安装缺失的依赖包
sudo apt install --allow-downgrades librealsense2-gl=2.55.1*# 4.再安装 utils
sudo apt install --allow-downgrades librealsense2-utils=2.55.1*

2. 验证降级是否成功

# 3.验证降级是否成功
pkg-config --modversion realsense2 # 应该显示 2.55.1
# 或者重新打开 realsense-viewer 查看版本
realsense-viewer

3. 清理并重新编译

cd ~/d455_ws
rm -rf build/ devel/
source /opt/ros/noetic/setup.bash
catkin_make

4.如果想要锁定版本（防止自动升级）

sudo apt-mark hold librealsense2 librealsense2-dev librealsense2-utils librealsense2-dkms

！！！更新：9.15号，似乎已经解决了这个错误，但我还没有尝试：
https://github.com/IntelRealSense/realsense-ros/issues/3406

(6)成功编译后，安装到本机

catkin_make install

4.启动深度相机

4.1 启动RGB-D相机

(1)先安装ros软件包rgbd_launch

sudo apt install ros-noetic-rgbd-launch

(2)启动相机

cd d455_ws
source ./devel/setup.bash
roslaunch realsense2_camera rs_rgbd.launch

4.2 可视化相机数据

rosrun rqt_image_view rqt_image_view

选择topic，连接成功画面如图所示：

参考资料：
https://jishuzhan.net/article/1790726978593099778

https://blog.csdn.net/weixin_50508111/article/details/124566566

http://www.chinasem.cn/article/826052

https://blog.csdn.net/weixin_50508111/article/details/125422880