{"id":35131,"date":"2023-11-28T00:48:47","date_gmt":"2024-02-07T15:16:38","guid":{"rendered":"https:\/\/www.silicloud.com\/zh\/blog\/%e5%9c%a8docker%e5%ae%b9%e5%99%a8%e4%b8%ad%e7%9a%84ros-2%e7%8e%af%e5%a2%83%e4%b8%ad%e4%bd%bf%e7%94%a8realsense-d435%e3%80%82\/"},"modified":"2024-05-04T11:06:10","modified_gmt":"2024-05-04T03:06:10","slug":"%e5%9c%a8docker%e5%ae%b9%e5%99%a8%e4%b8%ad%e7%9a%84ros-2%e7%8e%af%e5%a2%83%e4%b8%ad%e4%bd%bf%e7%94%a8realsense-d435%e3%80%82","status":"publish","type":"post","link":"https:\/\/www.silicloud.com\/zh\/blog\/%e5%9c%a8docker%e5%ae%b9%e5%99%a8%e4%b8%ad%e7%9a%84ros-2%e7%8e%af%e5%a2%83%e4%b8%ad%e4%bd%bf%e7%94%a8realsense-d435%e3%80%82\/","title":{"rendered":"\u5728Docker\u5bb9\u5668\u4e2d\u7684ROS 2\u73af\u5883\u4e2d\u4f7f\u7528RealSense D435"},"content":{"rendered":"<h1>\u9996\u5148<\/h1>\n<p>\u5728 Docker \u73af\u5883\u4e2d\u6784\u5efa Ubuntu 22.04 \u548c ROS2 \u73af\u5883\uff0c\u5e76\u89e3\u91ca\u5728 Docker \u5bb9\u5668\u5185\u4f7f\u7528 RealSense \u7684\u6b65\u9aa4\u3002<br \/>\n\u53e6\u5916\uff0c\u8003\u8651\u5230 RealSense \u5c06\u7528\u4e8e\u5d4c\u5165\u5f0f\u673a\u5668\u4eba\uff0c\u6211\u4eec\u8fd8\u9700\u9488\u5bf9\u4ee5\u4e0b\u6761\u4ef6\u8fdb\u884c\u914d\u7f6e\u3002<\/p>\n<ul class=\"post-ul\">\n<li style=\"list-style-type: none;\">\n<ul class=\"post-ul\">RealSense\u304c\u63a5\u7d9a\u3055\u308c\u305f\u72b6\u614b\u3067PC\u304c\u8d77\u52d5\u3059\u308b\u3002<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<ul class=\"post-ul\">\u9014\u4e2d\u3067USB\u63a5\u7d9a\u304c\u5207\u308c\u3066\u518d\u63a5\u7d9a\u3055\u308c\u3066\u3082\u52d5\u4f5c\u3059\u308b\u3002<\/ul>\n<p>\u5df2\u7ecf\u6709\u4ee5\u4e0b\u7684\u5b58\u50a8\u5e93\u516c\u5f00\uff0c\u53ef\u5728Docker\u7684ROS2\u73af\u5883\u4e2d\u4f7f\u7528RealSense\uff0c\u5982\u679c\u60f3\u8981\u8f7b\u677e\u8fd0\u884c\uff0c\u53ea\u9700\u4f7f\u7528\u4ee5\u4e0b\u5b58\u50a8\u5e93\u4e2d\u7684Dockerfile\u3002<\/p>\n<p>&nbsp;<\/p>\n<h1>\u786e\u8ba4\u73af\u5883\u662f\u5426\u534f\u8c03<\/h1>\n<p>\u4e3b\u673a\u7535\u8111<\/p>\n<div>\n<div class=\"post-table\">\u9805\u76ee\u5024CPUIntel\u00ae Core\u2122 i7-12700HGPUGeForce RTX 3050 Ti MobileUbuntu22.04Kernel22.04docker24.0.6docker composev2.21.06.2.0-36-generic<\/div>\n<\/div>\n<p>Docker\u5bb9\u5668<\/p>\n<div>\n<div class=\"post-table\">\u9805\u76ee\u5024Ubuntu22.04ROS2Humble or Iron<\/div>\n<\/div>\n<p>\u4f7f\u7528\u8fc7\u7684RealSense\uff1a<br \/>\nRealSense D435<\/p>\n<p>&nbsp;<\/p>\n<h1>\u8bbe\u5b9audev\u89c4\u5219<\/h1>\n<p>\u5728Docker\u5bb9\u5668\u8fd0\u884c\u65f6\u91cd\u65b0\u8fde\u63a5RealSense\u4f1a\u5bfc\u81f4\/dev\/\u4e0b\u7684\u8fde\u63a5\u76ee\u6807\u53d1\u751f\u53d8\u5316\uff0c\u5bfc\u81f4\u65e0\u6cd5\u6b63\u5e38\u5de5\u4f5c\u3002\u56e0\u6b64\uff0c\u9700\u8981\u5728\u4e3b\u673aPC\u4e0a\u4e8b\u5148\u8bbe\u7f6eudev\u89c4\u5219\u3002<\/p>\n<p>\u514b\u9686librealsense\u6e90\u4ee3\u7801\uff0c\u5e76\u5e94\u7528udev\u89c4\u5219\u3002<br \/>\n\u5728\u6267\u884c\u65f6\uff0c\u8bf7\u5c06RealSense\u8bbe\u5907\u65ad\u5f00\u8fde\u63a5\u3002<\/p>\n<pre class=\"post-pre\"><code>git clone https:\/\/github.com\/IntelRealSense\/librealsense <span class=\"o\">&amp;&amp;<\/span> <span class=\"nb\">cd <\/span>librealsense\r\n<span class=\"nb\">sudo<\/span> .\/scripts\/setup_udev_rules.sh\r\n<\/code><\/pre>\n<p>\u5f53\u6210\u529f\u65f6\uff0c\u4f1a\u51fa\u73b0\u6b64\u7c7b\u6d88\u606f\u3002<\/p>\n<pre class=\"post-pre\"><code>Setting-up permissions <span class=\"k\">for <\/span>RealSense devices\r\n\r\nRemove all RealSense cameras attached. Hit any key when ready\r\n\r\nudev-rules successfully installed\r\n<\/code><\/pre>\n<p>\u5982\u679c\u8981\u5220\u9664udev\u89c4\u5219<\/p>\n<pre class=\"post-pre\"><code><span class=\"nb\">sudo<\/span> .\/scripts\/setup_udev_rules.sh <span class=\"nt\">--uninstall<\/span>\r\n<\/code><\/pre>\n<h3>\u786e\u8ba4\u8fde\u63a5\u76ee\u6807<\/h3>\n<p>\u5728udev\u914d\u7f6e\u5b8c\u6210\u540e\uff0c\u91cd\u65b0\u542f\u52a8\u8ba1\u7b97\u673a\u5e76\u591a\u6b21\u63d2\u62d4USB\uff0c\u4ee5\u786e\u4fdd\/dev\/\u4e0b\u7684\u8fde\u63a5\u76ee\u6807\u6ca1\u6709\u6539\u53d8\u3002<\/p>\n<pre class=\"post-pre\"><code>~<span class=\"nv\">$ <\/span>v4l2-ctl <span class=\"nt\">--list-devices<\/span>\r\nIntel<span class=\"o\">(<\/span>R<span class=\"o\">)<\/span> RealSense<span class=\"o\">(<\/span>TM<span class=\"o\">)<\/span> Depth Ca <span class=\"o\">(<\/span>usb-0000:00:14.0-2<span class=\"o\">)<\/span>:\r\n\t\/dev\/video4\r\n\t\/dev\/video5\r\n\t\/dev\/video6\r\n\t\/dev\/video7\r\n\t\/dev\/video8\r\n\t\/dev\/video9\r\n\t\/dev\/media2\r\n\t\/dev\/media3\r\n\r\n HD Webcam: HD Webcam <span class=\"o\">(<\/span>usb-0000:00:14.0-6<span class=\"o\">)<\/span>:\r\n\t\/dev\/video0\r\n\t\/dev\/video1\r\n\t\/dev\/video2\r\n\t\/dev\/video3\r\n\t\/dev\/media0\r\n\t\/dev\/media1\r\n<\/code><\/pre>\n<p>\u5728\u6211\u7684\u73af\u5883\u4e2d\uff0c\u7b14\u8bb0\u672c\u7535\u8111\u5185\u7f6e\u7684\u7f51\u7edc\u6444\u50cf\u5934\u5df2\u7ecf\u88ab\u6302\u8f7d\u5230\/dev\/video0 ~ 3, \/dev\/media0,1\u4e0a\u4e86\u3002<br \/>\n\u5f53\u8fde\u63a5RealSense\u65f6\uff0c\/video\u4f1a\u4ece\u4e0b\u4e00\u4e2a\u7f16\u53f7\u5f00\u59cb\u589e\u52a06\u4e2a\uff0c\/media\u4f1a\u4ece\u4e0b\u4e00\u4e2a\u7f16\u53f7\u5f00\u59cb\u589e\u52a02\u4e2a\u3002<\/p>\n<h1>\u521b\u5efaDockerfile\u548cdocker-compose.yml\u6587\u4ef6<\/h1>\n<h3>\u521b\u5efaDockerfile\u548c\u521b\u5efa\u6620\u50cf\u3002<\/h3>\n<p>\u57fa\u7840Docker\u955c\u50cf\u6307\u7684\u662f\u5728\u4ee5\u4e0b\u7684Docker Hub\u94fe\u63a5\u4e2d\u516c\u5f00\u7684\u56fe\u50cf\u4e2d\uff0c\u4f7f\u7528\u6700\u5c0f\u7684ROS\u5b89\u88c5\u7684base\u955c\u50cf\u3002<\/p>\n<p>&nbsp;<\/p>\n<p>\u4ea7\u751f\u7684Dockerfile\u5141\u8bb8\u5728\u53c2\u6570\u4e2d\u9009\u62e9ROS 2 Humble\u548cIron\u7248\u672c\u3002<\/p>\n<pre class=\"post-pre\"><code><span class=\"c\"># \u5f15\u6570\u3067Humble \u3068Iron\u3092\u9078\u3079\u308b\u3088\u3046\u306b\u3059\u308b<\/span>\r\n<span class=\"k\">ARG<\/span><span class=\"s\"> ROS_DISTRO=humble<\/span>\r\n<span class=\"k\">FROM<\/span><span class=\"s\"> althack\/ros2:${ROS_DISTRO}-base<\/span>\r\n\r\n<span class=\"c\"># \u8a00\u8a9e\u8a2d\u5b9a\u3092\u805e\u304b\u308c\u306a\u3044\u3088\u3046\u306b\u3059\u308b<\/span>\r\n<span class=\"k\">ARG<\/span><span class=\"s\"> DEBIAN_FRONTEND=noninteractive<\/span>\r\n\r\n<span class=\"c\"># \u5fc5\u8981\u306a\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/span>\r\n<span class=\"k\">RUN <\/span>apt-get update <span class=\"se\">\\\r\n<\/span> <span class=\"o\">&amp;&amp;<\/span> apt-get <span class=\"nb\">install<\/span> <span class=\"nt\">-y<\/span> <span class=\"se\">\\\r\n<\/span>    build-essential <span class=\"se\">\\\r\n<\/span>    cmake <span class=\"se\">\\\r\n<\/span>    git-all <span class=\"se\">\\\r\n<\/span> <span class=\"o\">&amp;&amp;<\/span> <span class=\"nb\">rm<\/span> <span class=\"nt\">-rf<\/span> \/var\/lib\/apt\/lists\/<span class=\"k\">*<\/span>\r\n\r\n<span class=\"c\"># librealsense\u3068realsense-ros\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/span>\r\n<span class=\"k\">RUN <\/span>apt-get update <span class=\"se\">\\\r\n<\/span> <span class=\"o\">&amp;&amp;<\/span> apt-get <span class=\"nb\">install<\/span> <span class=\"nt\">-y<\/span> <span class=\"se\">\\\r\n<\/span>    ros-<span class=\"k\">${<\/span><span class=\"nv\">ROS_DISTRO<\/span><span class=\"k\">}<\/span><span class=\"nt\">-librealsense2<\/span><span class=\"k\">*<\/span> <span class=\"se\">\\\r\n<\/span>    ros-<span class=\"k\">${<\/span><span class=\"nv\">ROS_DISTRO<\/span><span class=\"k\">}<\/span><span class=\"nt\">-realsense2-camera<\/span> <span class=\"se\">\\\r\n<\/span> <span class=\"o\">&amp;&amp;<\/span> <span class=\"nb\">rm<\/span> <span class=\"nt\">-rf<\/span> \/var\/lib\/apt\/lists\/<span class=\"k\">*<\/span>\r\n\r\n<span class=\"c\"># \u30c7\u30d0\u30c3\u30b0\u7528\u306e\u30c4\u30fc\u30eb\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/span>\r\n<span class=\"k\">RUN <\/span>apt-get update <span class=\"se\">\\\r\n<\/span> <span class=\"o\">&amp;&amp;<\/span> apt-get <span class=\"nb\">install<\/span> <span class=\"nt\">-y<\/span> <span class=\"se\">\\\r\n<\/span>    ros-<span class=\"k\">${<\/span><span class=\"nv\">ROS_DISTRO<\/span><span class=\"k\">}<\/span><span class=\"nt\">-rviz2<\/span> <span class=\"se\">\\\r\n<\/span>    ros-<span class=\"k\">${<\/span><span class=\"nv\">ROS_DISTRO<\/span><span class=\"k\">}<\/span><span class=\"nt\">-rqt-image-view<\/span> <span class=\"se\">\\\r\n<\/span> <span class=\"o\">&amp;&amp;<\/span> <span class=\"nb\">rm<\/span> <span class=\"nt\">-rf<\/span> \/var\/lib\/apt\/lists\/<span class=\"k\">*<\/span>\r\n\r\n<span class=\"k\">RUN <\/span><span class=\"nb\">echo<\/span> <span class=\"s1\">'source \/opt\/ros\/${ROS_DISTRO}\/setup.bash'<\/span> <span class=\"o\">&gt;&gt;<\/span> ~\/.bashrc\r\n\r\n<span class=\"k\">CMD<\/span><span class=\"s\"> [\"bash\"]<\/span>\r\n<\/code><\/pre>\n<p>\u6784\u5efaDocker\u955c\u50cf<\/p>\n<p>\u5728Humble\u7684\u60c5\u51b5\u4e0b<\/p>\n<pre class=\"post-pre\"><code>docker build <span class=\"nt\">--build-arg<\/span> <span class=\"nv\">ROS_DISTRO<\/span><span class=\"o\">=<\/span>humble <span class=\"nt\">-t<\/span> realsense-ros2-humble <span class=\"nb\">.<\/span>\r\n<\/code><\/pre>\n<p>\u9488\u5bf9\u94c1\u7684\u60c5\u51b5\u4e0b<\/p>\n<pre class=\"post-pre\"><code>docker build <span class=\"nt\">--build-arg<\/span> <span class=\"nv\">ROS_DISTRO<\/span><span class=\"o\">=<\/span>iron <span class=\"nt\">-t<\/span> realsense-ros2-iron <span class=\"nb\">.<\/span>\r\n<\/code><\/pre>\n<p>\u786e\u8ba4\u662f\u5426\u5df2\u7ecf\u5f62\u6210\u4e86\u60f3\u50cf\u3002<\/p>\n<pre class=\"post-pre\"><code><span class=\"nv\">$ <\/span>docker images\r\nREPOSITORY                          TAG                IMAGE ID       CREATED          SIZE\r\nrealsense-ros2-iron                 latest             3beb6f942fee   27 seconds ago   2.26GB\r\nrealsense-ros2-humble               latest             eea22a6ed96f   4 minutes ago    2.23GB\r\n<\/code><\/pre>\n<h3>\u521b\u5efadocker-compose.yml\u6587\u4ef6<\/h3>\n<p>\u7528\u4e8e\u4ece\u521b\u5efa\u7684Docker\u955c\u50cf\u542f\u52a8\u5bb9\u5668\u7684Docker Compose yml\u6587\u4ef6\u3002<br \/>\n\u542f\u52a8\u540e\u5c06\u6267\u884crealsense2_camera\u7684launch\u6587\u4ef6\u3002<br \/>\n\u5bf9\u4e8eIron\uff0c\u8bf7\u5c06&#8221;humble&#8221;\u66f4\u6539\u4e3a&#8221;iron&#8221;\u3002<\/p>\n<pre class=\"post-pre\"><code><span class=\"na\">version<\/span><span class=\"pi\">:<\/span> <span class=\"s1\">'<\/span><span class=\"s\">3.8'<\/span>\r\n\r\n<span class=\"na\">services<\/span><span class=\"pi\">:<\/span>\r\n  <span class=\"na\">realsense_ros_docker<\/span><span class=\"pi\">:<\/span>\r\n    <span class=\"na\">image<\/span><span class=\"pi\">:<\/span> <span class=\"s\">realsense-ros2-humble:latest<\/span>\r\n    <span class=\"na\">environment<\/span><span class=\"pi\">:<\/span>\r\n      <span class=\"pi\">-<\/span> <span class=\"s\">DISPLAY=${DISPLAY}<\/span>\r\n      <span class=\"pi\">-<\/span> <span class=\"s\">QT_X11_NO_MITSHM=1<\/span>\r\n    <span class=\"na\">volumes<\/span><span class=\"pi\">:<\/span>\r\n      <span class=\"pi\">-<\/span> <span class=\"s\">\/tmp\/.X11-unix:\/tmp\/.X11-unix<\/span>\r\n    <span class=\"na\">command<\/span><span class=\"pi\">:<\/span> <span class=\"s\">\/bin\/bash -c \"source \/opt\/ros\/humble\/setup.bash &amp;&amp; ros2 launch realsense2_camera rs_launch.py\"<\/span>\r\n    <span class=\"c1\">#privileged: true<\/span>\r\n    <span class=\"na\">devices<\/span><span class=\"pi\">:<\/span>\r\n      <span class=\"pi\">-<\/span> <span class=\"s\">\/dev\/video0:\/dev\/video0<\/span>\r\n      <span class=\"pi\">-<\/span> <span class=\"s\">\/dev\/video1:\/dev\/video1<\/span>\r\n      <span class=\"pi\">-<\/span> <span class=\"s\">\/dev\/video2:\/dev\/video2<\/span>\r\n      <span class=\"pi\">-<\/span> <span class=\"s\">\/dev\/video3:\/dev\/video3<\/span>\r\n      <span class=\"pi\">-<\/span> <span class=\"s\">\/dev\/video4:\/dev\/video4<\/span>\r\n      <span class=\"pi\">-<\/span> <span class=\"s\">\/dev\/video5:\/dev\/video5<\/span>\r\n      <span class=\"pi\">-<\/span> <span class=\"s\">\/dev\/video6:\/dev\/video6<\/span>\r\n      <span class=\"pi\">-<\/span> <span class=\"s\">\/dev\/video7:\/dev\/video7<\/span>\r\n      <span class=\"pi\">-<\/span> <span class=\"s\">\/dev\/video8:\/dev\/video8<\/span>\r\n      <span class=\"pi\">-<\/span> <span class=\"s\">\/dev\/video9:\/dev\/video9<\/span>\r\n      <span class=\"pi\">-<\/span> <span class=\"s\">\/dev\/media2:\/dev\/media0<\/span>\r\n      <span class=\"pi\">-<\/span> <span class=\"s\">\/dev\/media3:\/dev\/media1<\/span>\r\n      <span class=\"pi\">-<\/span> <span class=\"s\">\/dev\/media2:\/dev\/media2<\/span>\r\n      <span class=\"pi\">-<\/span> <span class=\"s\">\/dev\/media3:\/dev\/media3<\/span>\r\n    <span class=\"na\">device_cgroup_rules<\/span><span class=\"pi\">:<\/span>\r\n      <span class=\"pi\">-<\/span> <span class=\"s1\">'<\/span><span class=\"s\">c<\/span> <span class=\"s\">81:*<\/span> <span class=\"s\">rmw'<\/span>\r\n      <span class=\"pi\">-<\/span> <span class=\"s1\">'<\/span><span class=\"s\">c<\/span> <span class=\"s\">189:*<\/span> <span class=\"s\">rmw'<\/span>\r\n<\/code><\/pre>\n<p>\u5728\u8fde\u63a5RealSense\u7684\u60c5\u51b5\u4e0b\u8fdb\u884c\u6267\u884c\u3002<\/p>\n<pre class=\"post-pre\"><code>docker compose up\r\n<\/code><\/pre>\n<pre class=\"post-pre\"><code><span class=\"o\">[<\/span>+] Running 2\/2\r\n \u2714 Network realsense_docker_test_default                   Created                                                                                                                                     0.1s \r\n \u2714 Container realsense_docker_test-realsense_ros_docker-1  Created                                                                                                                                     0.0s \r\nAttaching to realsense_docker_test-realsense_ros_docker-1\r\nrealsense_docker_test-realsense_ros_docker-1  | <span class=\"o\">[<\/span>INFO] <span class=\"o\">[<\/span>launch]: All log files can be found below \/root\/.ros\/log\/2023-11-01-10-16-30-585387-115173531dc5-1\r\nrealsense_docker_test-realsense_ros_docker-1  | <span class=\"o\">[<\/span>INFO] <span class=\"o\">[<\/span>launch]: Default logging verbosity is <span class=\"nb\">set <\/span>to INFO\r\nrealsense_docker_test-realsense_ros_docker-1  | <span class=\"o\">[<\/span>INFO] <span class=\"o\">[<\/span>realsense2_camera_node-1]: process started with pid <span class=\"o\">[<\/span>14]\r\nrealsense_docker_test-realsense_ros_docker-1  | <span class=\"o\">[<\/span>realsense2_camera_node-1] <span class=\"o\">[<\/span>INFO] <span class=\"o\">[<\/span>1698833790.873154053] <span class=\"o\">[<\/span>camera.camera]: RealSense ROS v4.54.1\r\nrealsense_docker_test-realsense_ros_docker-1  | <span class=\"o\">[<\/span>realsense2_camera_node-1] <span class=\"o\">[<\/span>INFO] <span class=\"o\">[<\/span>1698833790.873229609] <span class=\"o\">[<\/span>camera.camera]: Built with LibRealSense v2.54.1\r\nrealsense_docker_test-realsense_ros_docker-1  | <span class=\"o\">[<\/span>realsense2_camera_node-1] <span class=\"o\">[<\/span>INFO] <span class=\"o\">[<\/span>1698833790.873235242] <span class=\"o\">[<\/span>camera.camera]: Running with LibRealSense v2.54.1\r\nrealsense_docker_test-realsense_ros_docker-1  | <span class=\"o\">[<\/span>realsense2_camera_node-1] <span class=\"o\">[<\/span>INFO] <span class=\"o\">[<\/span>1698833790.882924014] <span class=\"o\">[<\/span>camera.camera]: Device with serial number 241222074061 was found.\r\nrealsense_docker_test-realsense_ros_docker-1  | <span class=\"o\">[<\/span>realsense2_camera_node-1] \r\nrealsense_docker_test-realsense_ros_docker-1  | <span class=\"o\">[<\/span>realsense2_camera_node-1] <span class=\"o\">[<\/span>INFO] <span class=\"o\">[<\/span>1698833790.882945705] <span class=\"o\">[<\/span>camera.camera]: Device with physical ID \/sys\/devices\/pci0000:00\/0000:00:14.0\/usb4\/4-2\/4-2:1.0\/video4linux\/video0 was found.\r\nrealsense_docker_test-realsense_ros_docker-1  | <span class=\"o\">[<\/span>realsense2_camera_node-1] <span class=\"o\">[<\/span>INFO] <span class=\"o\">[<\/span>1698833790.882950586] <span class=\"o\">[<\/span>camera.camera]: Device with name Intel RealSense D435 was found.\r\nrealsense_docker_test-realsense_ros_docker-1  | <span class=\"o\">[<\/span>realsense2_camera_node-1] <span class=\"o\">[<\/span>INFO] <span class=\"o\">[<\/span>1698833790.883079531] <span class=\"o\">[<\/span>camera.camera]: Device with port number 4-2 was found.\r\nrealsense_docker_test-realsense_ros_docker-1  | <span class=\"o\">[<\/span>realsense2_camera_node-1] <span class=\"o\">[<\/span>INFO] <span class=\"o\">[<\/span>1698833790.883084556] <span class=\"o\">[<\/span>camera.camera]: Device USB <span class=\"nb\">type<\/span>: 3.2\r\nrealsense_docker_test-realsense_ros_docker-1  | <span class=\"o\">[<\/span>realsense2_camera_node-1] <span class=\"o\">[<\/span>INFO] <span class=\"o\">[<\/span>1698833790.883477568] <span class=\"o\">[<\/span>camera.camera]: getParameters...\r\nrealsense_docker_test-realsense_ros_docker-1  | <span class=\"o\">[<\/span>realsense2_camera_node-1] <span class=\"o\">[<\/span>INFO] <span class=\"o\">[<\/span>1698833790.883575261] <span class=\"o\">[<\/span>camera.camera]: JSON file is not provided\r\nrealsense_docker_test-realsense_ros_docker-1  | <span class=\"o\">[<\/span>realsense2_camera_node-1] <span class=\"o\">[<\/span>INFO] <span class=\"o\">[<\/span>1698833790.883580332] <span class=\"o\">[<\/span>camera.camera]: Device Name: Intel RealSense D435\r\nrealsense_docker_test-realsense_ros_docker-1  | <span class=\"o\">[<\/span>realsense2_camera_node-1] <span class=\"o\">[<\/span>INFO] <span class=\"o\">[<\/span>1698833790.883584101] <span class=\"o\">[<\/span>camera.camera]: Device Serial No: 241222074061\r\nrealsense_docker_test-realsense_ros_docker-1  | <span class=\"o\">[<\/span>realsense2_camera_node-1] <span class=\"o\">[<\/span>INFO] <span class=\"o\">[<\/span>1698833790.883587438] <span class=\"o\">[<\/span>camera.camera]: Device physical port: \/sys\/devices\/pci0000:00\/0000:00:14.0\/usb4\/4-2\/4-2:1.0\/video4linux\/video0\r\nrealsense_docker_test-realsense_ros_docker-1  | <span class=\"o\">[<\/span>realsense2_camera_node-1] <span class=\"o\">[<\/span>INFO] <span class=\"o\">[<\/span>1698833790.883591278] <span class=\"o\">[<\/span>camera.camera]: Device FW version: 5.15.1\r\nrealsense_docker_test-realsense_ros_docker-1  | <span class=\"o\">[<\/span>realsense2_camera_node-1] <span class=\"o\">[<\/span>INFO] <span class=\"o\">[<\/span>1698833790.883594850] <span class=\"o\">[<\/span>camera.camera]: Device Product ID: 0x0B07\r\nrealsense_docker_test-realsense_ros_docker-1  | <span class=\"o\">[<\/span>realsense2_camera_node-1] <span class=\"o\">[<\/span>INFO] <span class=\"o\">[<\/span>1698833790.883598217] <span class=\"o\">[<\/span>camera.camera]: Sync Mode: Off\r\nrealsense_docker_test-realsense_ros_docker-1  | <span class=\"o\">[<\/span>realsense2_camera_node-1] <span class=\"o\">[<\/span>INFO] <span class=\"o\">[<\/span>1698833790.893652603] <span class=\"o\">[<\/span>camera.camera]: Set ROS param depth_module.profile to default: 848x480x30\r\nrealsense_docker_test-realsense_ros_docker-1  | <span class=\"o\">[<\/span>realsense2_camera_node-1] <span class=\"o\">[<\/span>INFO] <span class=\"o\">[<\/span>1698833790.899207398] <span class=\"o\">[<\/span>camera.camera]: Set ROS param rgb_camera.profile to default: 640x480x30\r\nrealsense_docker_test-realsense_ros_docker-1  | <span class=\"o\">[<\/span>realsense2_camera_node-1] <span class=\"o\">[<\/span>INFO] <span class=\"o\">[<\/span>1698833790.903732976] <span class=\"o\">[<\/span>camera.camera]: Stopping Sensor: Depth Module\r\nrealsense_docker_test-realsense_ros_docker-1  | <span class=\"o\">[<\/span>realsense2_camera_node-1] <span class=\"o\">[<\/span>INFO] <span class=\"o\">[<\/span>1698833790.905105019] <span class=\"o\">[<\/span>camera.camera]: Starting Sensor: Depth Module\r\nrealsense_docker_test-realsense_ros_docker-1  | <span class=\"o\">[<\/span>realsense2_camera_node-1] <span class=\"o\">[<\/span>INFO] <span class=\"o\">[<\/span>1698833790.913908076] <span class=\"o\">[<\/span>camera.camera]: Open profile: stream_type: Depth<span class=\"o\">(<\/span>0<span class=\"o\">)<\/span>, Format: Z16, Width: 848, Height: 480, FPS: 30\r\nrealsense_docker_test-realsense_ros_docker-1  | <span class=\"o\">[<\/span>realsense2_camera_node-1] <span class=\"o\">[<\/span>INFO] <span class=\"o\">[<\/span>1698833790.914036523] <span class=\"o\">[<\/span>camera.camera]: Stopping Sensor: RGB Camera\r\nrealsense_docker_test-realsense_ros_docker-1  | <span class=\"o\">[<\/span>realsense2_camera_node-1] <span class=\"o\">[<\/span>INFO] <span class=\"o\">[<\/span>1698833790.924960705] <span class=\"o\">[<\/span>camera.camera]: Starting Sensor: RGB Camera\r\nrealsense_docker_test-realsense_ros_docker-1  | <span class=\"o\">[<\/span>realsense2_camera_node-1] <span class=\"o\">[<\/span>INFO] <span class=\"o\">[<\/span>1698833790.927715218] <span class=\"o\">[<\/span>camera.camera]: Open profile: stream_type: Color<span class=\"o\">(<\/span>0<span class=\"o\">)<\/span>, Format: RGB8, Width: 640, Height: 480, FPS: 30\r\nrealsense_docker_test-realsense_ros_docker-1  | <span class=\"o\">[<\/span>realsense2_camera_node-1] <span class=\"o\">[<\/span>INFO] <span class=\"o\">[<\/span>1698833790.928721350] <span class=\"o\">[<\/span>camera.camera]: RealSense Node Is Up!\r\n<\/code><\/pre>\n<h1>\u8bf7\u63d0\u4f9b\u4e0b\u9762\u7684\u5185\u5bb9\u7684\u4e2d\u6587\u672c\u5730\u5316\u6539\u5199\uff08\u53ea\u9700\u8981\u4e00\u79cd\u9009\u9879\uff09\uff1a<\/h1>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u9996\u5148 \u5728 Docker \u73af\u5883\u4e2d\u6784\u5efa Ubuntu 22.04 \u548c ROS2 \u73af\u5883\uff0c\u5e76\u89e3\u91ca\u5728 Docker \u5bb9\u5668 [&hellip;]<\/p>\n","protected":false},"author":6,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[],"class_list":["post-35131","post","type-post","status-publish","format-standard","hentry","category-uncategorized"],"yoast_head":"<!-- This site is optimized with the Yoast SEO Premium plugin v21.5 (Yoast SEO v21.5) - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>\u5728Docker\u5bb9\u5668\u4e2d\u7684ROS 2\u73af\u5883\u4e2d\u4f7f\u7528RealSense D435 - Blog - Silicon Cloud<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.silicloud.com\/zh\/blog\/\u5728docker\u5bb9\u5668\u4e2d\u7684ros-2\u73af\u5883\u4e2d\u4f7f\u7528realsense-d435\u3002\/\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"\u5728Docker\u5bb9\u5668\u4e2d\u7684ROS 2\u73af\u5883\u4e2d\u4f7f\u7528RealSense D435\" \/>\n<meta property=\"og:description\" content=\"\u9996\u5148 \u5728 Docker \u73af\u5883\u4e2d\u6784\u5efa Ubuntu 22.04 \u548c ROS2 \u73af\u5883\uff0c\u5e76\u89e3\u91ca\u5728 Docker \u5bb9\u5668 [&hellip;]\" \/>\n<meta property=\"og:url\" content=\"https:\/\/www.silicloud.com\/zh\/blog\/\u5728docker\u5bb9\u5668\u4e2d\u7684ros-2\u73af\u5883\u4e2d\u4f7f\u7528realsense-d435\u3002\/\" \/>\n<meta property=\"og:site_name\" content=\"Blog - Silicon Cloud\" \/>\n<meta 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