树莓派5+ros2 jazzy+d435i+orb-slam3

树莓派5 16gubuntu24.04 server1.鱼香ros一键安装ros2 jazzy清华源wget http://fishros.com/install -O fishros . fishros2.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-opencv3.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/fstab4.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