机器人控制器开发(传感器层——奥比大白相机适配)

编译OrbbecSDK_ROS2的代码
执行命令

colcon build

ros2 launch orbbec_camera dabai.launch.py

问题1：

运行时报错：

[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

解决方案：

进入orbsdk的 lib路径下

cd /home/cat/ros2_navigation_ws/install/orbbec_camera/lib/

增加软链接

ln -s /usr/lib/aarch64-linux-gnu/libopencv_imgcodecs.so.4.5d libopencv_imgcodecs.so.408

再次执行就不会提示找不到这个库了

问题2：

报错：
[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

解决方案：
添加 udev 规则

sudo vim /etc/udev/rules.d/99-orbbec.rules

写入：

SUBSYSTEM=="usb", ATTR{idVendor}=="2bc5", ATTR{idProduct}=="0655", MODE="0666"

保存后执行：

sudo udevadm control --reload-rules
sudo udevadm trigger

运行效果