摄像头安装openni2SDK驱动

下载库  网址： jiangchao / ros2_astra_camera · GitLab

● Install dependencies

sudo apt-get install ros-foxy-camera-info-manager

sudo apt-get install ros-foxy-cv-bridge

sudo apt-get install ros-foxy-image-geometry

apt install udev

sudo apt install libgflags-dev nlohmann-json3-dev \

ros-foxy-image-transport ros-foxy-image-publisher

● Install glog

wget -c https://github.com/google/glog/archive/refs/tags/v0.6.0.tar.gz  -O glog-0.6.0.tar.gz

tar -xzvf glog-0.6.0.tar.gz

cd glog-0.6.0

mkdir build && cd build

cmake .. && make -j4

sudo make install

sudo ldconfig  # Refreshing the link library

● Install magic_enum

wget -c https://github.com/Neargye/magic_enum/archive/refs/tags/v0.8.0.tar.gz -O  magic_enum-0.8.0.tar.gz

tar -xzvf magic_enum-0.8.0.tar.gz

cd magic_enum-0.8.0

mkdir build && cd build

cmake .. && make -j4

sudo make install

sudo ldconfig

● Install libuvc

git clone https://github.com/libuvc/libuvc.git

cd libuvc

mkdir build && cd build

cmake .. && make -j4

sudo make install

sudo ldconfig # Refreshing the link library

● Install usb-drive

 apt-get install libusb-1.0-0-dev

● Create a new ros2 workspace ,下载代码

mkdir -p ~/ros2_ws/src

cd ~/ros2_ws/src/

git clone http://10.0.1.65/15988821760/ros2_astra_camera.git

sudo bash install.sh

sudo udevadm control --reload-rules && sudo udevadm trigger

● Compiling

 cd ~/ros2_ws

source /opt/ros/foxy/setup.bash

colcon build

Starting the camera

ros2 launch astra_camera dabai.launch.py

CMake Error at CMakeLists.txt:19 (find_package):
  By not providing "Findcamera_info_manager.cmake" in CMAKE_MODULE_PATH this
  project has asked CMake to find a package configuration file provided by
  "camera_info_manager", but CMake did not find one.

  Could not find a package configuration file provided by
  "camera_info_manager" with any of the following names:

    camera_info_managerConfig.cmake
    camera_info_manager-config.cmake
 

sudo apt-get install ros-foxy-camera-info-manager

sudo apt-get install ros-foxy-cv-bridge

E: Unable to fetch some archives, maybe run apt-get update or try with --fix-missing?

sudo apt-get update

sudo apt-get upgrade

sudo apt-get install ros-foxy-image-geometry

  Could not find a package configuration file provided by "image_publisher"
  with any of the following names:

    image_publisherConfig.cmake
    image_publisher-config.cmake

sudo apt install libgflags-dev nlohmann-json3-dev \
ros-foxy-image-transport ros-foxy-image-publisher

注意：1.编译出现下面这个问题

--- stderr: astra_camera                              
/usr/bin/ld: /lib/aarch64-linux-gnu/libpng16.so.16: undefined reference to `inflateValidate@ZLIB_1.2.9'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/list_devices_node.dir/build.make:343: list_devices_node] Error 1
make[1]: *** [CMakeFiles/Makefile2:107: CMakeFiles/list_devices_node.dir/all] Error 2

经过仔细回忆，想起来可能是zlib的版本问题，因为这里指出是ZLIB1.2.9，所以我一查，我安装的是zlib1.2.8，还有一个apt安装的zlib1.2.11，遂从官网下载，安装，解决了问题，指令代码如下：

1 wget http://www.zlib.net/fossils/zlib-1.2.9.tar.gz
2 tar -xvf zlib-1.2.9.tar.gz
3 cd zlib-1.2.9
4 mkdir build
5 cd build
6 cmake ..
7 make
8 make install

参考：(124条消息) opencv出现问题：/usr/lib/x86_64-linux-gnu/libpng16.so.16: undefined reference to `inflateValidate@ZLIB_1...._未佩妥剑，已入江湖的博客-优快云博客

2。运行出现下面的问题：

[component_container-1] [ERROR] [1672732120.567795111] [astra_camera_container]: Failed to load library: Could not load library LoadLibrary error: /root/rcsconn/lib/aarch64/libz.so.1: version `ZLIB_1.2.9' not found (required by /lib/aarch64-linux-gnu/libpng16.so.16), at /tmp/binarydeb/ros-foxy-rcutils-1.1.4/src/shared_library.c:84
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'camera' of type 'astra_camera::OBCameraNodeFactory' in container '/astra_camera_container': Failed to load library: Could not load library LoadLibrary error: /root/rcsconn/lib/aarch64/libz.so.1: version `ZLIB_1.2.9' not found (required by /lib/aarch64-linux-gnu/libpng16.so.16), at /tmp/binarydeb/ros-foxy-rcutils-1.1.4/src/shared_library.c:84
[component_container-1] [ERROR] [1672732120.577070404] [astra_camera_container]: Failed to find class with the requested plugin name 'astra_camera::PointCloudXyzNode' in the loaded library
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'point_cloud_xyz' of type 'astra_camera::PointCloudXyzNode' in container '/astra_camera_container': Failed to find class with the requested plugin name.
[component_container-1] [ERROR] [1672732120.583860405] [astra_camera_container]: Failed to find class with the requested plugin name 'astra_camera::PointCloudXyzrgbNode' in the loaded library
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'point_cloud_xyzrgb' of type 'astra_camera::PointCloudXyzrgbNode' in container '/astra_camera_container': Failed to find class with the requested plugin name.

ln -s -f /usr/local/lib/libz.so.1.2.9  /root/rcsconn/lib/aarch64/libz.so.1

参考：
(123条消息) linux系统：共享库问题之如version `ZLIB_1.2.9‘ not found_robot.zhoy的博客-优快云博客

或者直接把/usr/local/lib/libz.so.1.2.9拷贝到/root/rcsconn/lib/aarch64/libz.so.1并改名成libz.so.1