ROS kinetic + zed +ubuntu 16.04 应用

获取深度图像，有深度转激光信息，特此记录．-2017.09.14 乐
环境：ubuntu 16.04
ros: kinetic
opencv: 3.2
相机：zed

wiki链接
安装驱动：官方链接
安装ros包：github链接

1、修改opencv版本3.1->3.2

find_package(ZED 2.1) #修改2.0->2.1 乐
SET(OCV_VERSION "3.2") #修改3.1->3.2 乐

2、catkin_make 并运行zed.launch

提示：

[ERROR] [1505470505.374252318]: Failed to load nodelet [/zed/zed_wrapper_node] of type [zed_wrapper/ZEDWrapperNodelet] even after refreshing the cache: Failed to load library /home/chunle/catkin_zed/devel/lib//libZEDWrapper.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = libnvidia-fatbinaryloader.so.384.66: cannot open shared object file: No such file or directory)
[ERROR] [1505470505.374285762]: The error before refreshing the cache was: Failed to load library /home/chunle/catkin_zed/devel/lib//libZEDWrapper.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = libnvidia-fatbinaryloader.so.384.66: cannot open shared object file: No such file or directory)

文件所在位置：
/usr/lib32/nvidia-384/libnvidia-fatbinaryloader.so.384.66
原因分析：环境配置可能有问题，程序运行需要连接到库文件，未能链接成功
解决方案：