编译OrbbecSDK_ROS2的代码
执行命令
bash
colcon build
bash
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 ```bash cd /home/cat/ros2_navigation_ws/install/orbbec_camera/lib/ ``` 增加软链接 ```bash 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 ```bash sudo vim /etc/udev/rules.d/99-orbbec.rules ``` 写入： ```bash SUBSYSTEM=="usb", ATTR{idVendor}=="2bc5", ATTR{idProduct}=="0655", MODE="0666" ``` 保存后执行： ```bash sudo udevadm control --reload-rules sudo udevadm trigger ``` ### 运行效果  