編譯OrbbecSDK_ROS2的代碼
執行命令
colcon build
ros2 launch orbbec_camera dabai.launch.py
問題1：
運行時報錯：
[component_container-1] [ERROR] [1757153916.450795107] [camera.camera_container]: Failed to load library: Could not load library dlopen error: libopencv_imgcodecs.so.408: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99
解決方案：
進入orbsdk的 lib路徑下
cd /home/cat/ros2_navigation_ws/install/orbbec_camera/lib/
增加軟鏈接
ln -s /usr/lib/aarch64-linux-gnu/libopencv_imgcodecs.so.4.5d libopencv_imgcodecs.so.408
再次執行就不會提示找不到這個庫了
問題2：
報錯：
[component_container-1] [ERROR] [1757154721.674191725] [camera.camera]: Failed to initialize device usbEnumerator createUsbDevice failed!
[component_container-1] [INFO] [1757154721.674528589] [camera.camera]: resetDevice : Reset device uid:
[component_container-1] [INFO] [1757154721.674668876] [camera.camera]: Reset device uid: done
[component_container-1] [INFO] [1757154721.774475496] [camera.camera]: Connecting to the default device
解決方案：
添加 udev 規則
sudo vim /etc/udev/rules.d/99-orbbec.rules
寫入：
SUBSYSTEM=="usb", ATTR{idVendor}=="2bc5", ATTR{idProduct}=="0655", MODE="0666"
保存后執行：
sudo udevadm control --reload-rules
sudo udevadm trigger
運行效果
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