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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