虚拟机安装realsense(失败）

1.安装 

rosnoetic@rosnoetic-VirtualBox:~$ sudo apt-get install ros-noetic-realsense2-camera
[sudo] rosnoetic 的密码： 
正在读取软件包列表... 完成
正在分析软件包的依赖关系树       
正在读取状态信息... 完成       
将会同时安装下列软件：
  ros-noetic-ddynamic-reconfigure ros-noetic-librealsense2
下列【新】软件包将被安装：
  ros-noetic-ddynamic-reconfigure ros-noetic-librealsense2
  ros-noetic-realsense2-camera
升级了 0 个软件包，新安装了 3 个软件包，要卸载 0 个软件包，有 98 个软件包未被升级。
需要下载 13.2 MB 的归档。
解压缩后会消耗 39.1 MB 的额外空间。
您希望继续执行吗？ [Y/n] y
获取:1 http://mirrors.ustc.edu.cn/ros/ubuntu focal/main amd64 ros-noetic-ddynamic-reconfigure amd64 0.3.2-1focal.20230620.192501 [73.4 kB]
获取:2 http://mirrors.ustc.edu.cn/ros/ubuntu focal/main amd64 ros-noetic-librealsense2 amd64 2.50.0-1focal.20211115.134455 [12.8 MB]
获取:3 http://mirrors.ustc.edu.cn/ros/ubuntu focal/main amd64 ros-noetic-realsense2-camera amd64 2.3.2-1focal.20240111.183800 [333 kB]
已下载 13.2 MB，耗时 4秒 (2,978 kB/s)                 
正在选中未选择的软件包 ros-noetic-ddynamic-reconfigure。
(正在读取数据库 ... 系统当前共安装有 277793 个文件和目录。)
准备解压 .../ros-noetic-ddynamic-reconfigure_0.3.2-1focal.20230620.192501_amd64.deb  ...
正在解压 ros-noetic-ddynamic-reconfigure (0.3.2-1focal.20230620.192501) ...
正在选中未选择的软件包 ros-noetic-librealsense2。
准备解压 .../ros-noetic-librealsense2_2.50.0-1focal.20211115.134455_amd64.deb  ...
正在解压 ros-noetic-librealsense2 (2.50.0-1focal.20211115.134455) ...
正在选中未选择的软件包 ros-noetic-realsense2-camera。
准备解压 .../ros-noetic-realsense2-camera_2.3.2-1focal.20240111.183800_amd64.deb  ...
正在解压 ros-noetic-realsense2-camera (2.3.2-1focal.20240111.183800) ...
正在设置 ros-noetic-ddynamic-reconfigure (0.3.2-1focal.20230620.192501) ...
正在设置 ros-noetic-librealsense2 (2.50.0-1focal.20211115.134455) ...
正在设置 ros-noetic-realsense2-camera (2.3.2-1focal.20240111.183800) ...
正在处理用于 libc-bin (2.31-0ubuntu9.16) 的触发器 ...
rosnoetic@rosnoetic-VirtualBox:~$ 

2.运行 

rosnoetic@rosnoetic-VirtualBox:~$ rs-enumerate-devices -c
rs-enumerate-devices：未找到命令
rosnoetic@rosnoetic-VirtualBox:~$ rs-enumerate-devices-c
rs-enumerate-devices-c：未找到命令
rosnoetic@rosnoetic-VirtualBox:~$ roslaunch realsense2_camera rs_camera.launch
... logging to /home/rosnoetic/.ros/log/fb75bb72-429b-11ef-89cc-abd58920170f/roslaunch-rosnoetic-VirtualBox-3408.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://rosnoetic-VirtualBox:42655/

SUMMARY
========

PARAMETERS
 * /camera/realsense2_camera/accel_fps: -1
 * /camera/realsense2_camera/accel_frame_id: camera_accel_frame
 * /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti...
 * /camera/realsense2_camera/align_depth: False
 * /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/allow_no_texture_points: False
 * /camera/realsense2_camera/base_frame_id: camera_link
 * /camera/realsense2_camera/calib_odom_file: 
 * /camera/realsense2_camera/clip_distance: -2.0
 * /camera/realsense2_camera/color_fps: -1
 * /camera/realsense2_camera/color_frame_id: camera_color_frame
 * /camera/realsense2_camera/color_height: -1
 * /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
 * /camera/realsense2_camera/color_width: -1
 * /camera/realsense2_camera/confidence_fps: -1
 * /camera/realsense2_camera/confidence_height: -1
 * /camera/realsense2_camera/confidence_width: -1
 * /camera/realsense2_camera/depth_fps: -1
 * /camera/realsense2_camera/depth_frame_id: camera_depth_frame
 * /camera/realsense2_camera/depth_height: -1
 * /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
 * /camera/realsense2_camera/depth_width: -1
 * /camera/realsense2_camera/device_type: 
 * /camera/realsense2_camera/enable_accel: False
 * /camera/realsense2_camera/enable_color: True
 * /camera/realsense2_camera/enable_confidence: True
 * /camera/realsense2_camera/enable_depth: True
 * /camera/realsense2_camera/enable_fisheye1: False
 * /camera/realsense2_camera/enable_fisheye2: False
 * /camera/realsense2_camera/enable_fisheye: False
 * /camera/realsense2_camera/enable_gyro: False
 * /camera/realsense2_camera/enable_infra1: False
 * /camera/realsense2_camera/enable_infra2: False
 * /camera/realsense2_camera/enable_infra: False
 * /camera/realsense2_camera/enable_pointcloud: False
 * /camera/realsense2_camera/enable_pose: False
 * /camera/realsense2_camera/enable_sync: False
 * /camera/realsense2_camera/filters: 
 * /camera/realsense2_camera/fisheye1_frame_id: camera_fisheye1_f...
 * /camera/realsense2_camera/fisheye1_optical_frame_id: camera_fisheye1_o...
 * /camera/realsense2_camera/fisheye2_frame_id: camera_fisheye2_f...
 * /camera/realsense2_camera/fisheye2_optical_frame_id: camera_fisheye2_o...
 * /camera/realsense2_camera/fisheye_fps: -1
 * /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
 * /camera/realsense2_camera/fisheye_height: -1
 * /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
 * /camera/realsense2_camera/fisheye_width: -1
 * /camera/realsense2_camera/gyro_fps: -1
 * /camera/realsense2_camera/gyro_frame_id: camera_gyro_frame
 * /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic...
 * /camera/realsense2_camera/imu_optical_frame_id: camera_imu_optica...
 * /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame
 * /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt...
 * /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame
 * /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt...
 * /camera/realsense2_camera/infra_fps: 30
 * /camera/realsense2_camera/infra_height: 480
 * /camera/realsense2_camera/infra_rgb: False
 * /camera/realsense2_camera/infra_width: 848
 * /camera/realsense2_camera/initial_reset: False
 * /camera/realsense2_camera/json_file_path: 
 * /camera/realsense2_camera/linear_accel_cov: 0.01
 * /camera/realsense2_camera/odom_frame_id: camera_odom_frame
 * /camera/realsense2_camera/ordered_pc: False
 * /camera/realsense2_camera/pointcloud_texture_index: 0
 * /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
 * /camera/realsense2_camera/pose_frame_id: camera_pose_frame
 * /camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic...
 * /camera/realsense2_camera/publish_odom_tf: True
 * /camera/realsense2_camera/publish_tf: True
 * /camera/realsense2_camera/reconnect_timeout: 6.0
 * /camera/realsense2_camera/rosbag_filename: 
 * /camera/realsense2_camera/serial_no: 
 * /camera/realsense2_camera/stereo_module/exposure/1: 7500
 * /camera/realsense2_camera/stereo_module/exposure/2: 1
 * /camera/realsense2_camera/stereo_module/gain/1: 16
 * /camera/realsense2_camera/stereo_module/gain/2: 16
 * /camera/realsense2_camera/tf_publish_rate: 0.0
 * /camera/realsense2_camera/topic_odom_in: odom_in
 * /camera/realsense2_camera/unite_imu_method: 
 * /camera/realsense2_camera/usb_port_id: 
 * /camera/realsense2_camera/wait_for_device_timeout: -1.0
 * /rosdistro: noetic
 * /rosversion: 1.16.0

NODES
  /camera/
    realsense2_camera (nodelet/nodelet)
    realsense2_camera_manager (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

process[camera/realsense2_camera_manager-1]: started with pid [3422]
process[camera/realsense2_camera-2]: started with pid [3423]
[ INFO] [1721042513.725043398]: Initializing nodelet with 3 worker threads.
[ INFO] [1721042514.242079839]: RealSense ROS v2.3.2
[ INFO] [1721042514.242144144]: Built with LibRealSense v2.50.0
[ INFO] [1721042514.242167104]: Running with LibRealSense v2.50.0
[ INFO] [1721042514.298730270]:  
 15/07 19:21:54,326 ERROR [139793199527680] (handle-libusb.h:51) failed to open usb interface: 0, error: RS2_USB_STATUS_ACCESS
 15/07 19:21:54,326 ERROR [139793431185152] (sensor.cpp:572) acquire_power failed: failed to set power state
[ WARN] [1721042514.333125223]: Device 1/1 failed with exception: failed to set power state
[ERROR] [1721042514.333413307]: The requested device with  is NOT found. Will Try again.
 15/07 19:21:54,332 WARNING [139793431185152] (rs.cpp:310) null pointer passed for argument "device"
[ INFO] [1721042520.355610969]:  
[ WARN] [1721042520.373693080]: Device 1/1 failed with exception: failed to set power state
[ERROR] [1721042520.373845256]: The requested device with  is NOT found. Will Try again.
 15/07 19:22:00,371 ERROR [139793414399744] (handle-libusb.h:51) failed to open usb interface: 0, error: RS2_USB_STATUS_ACCESS
 15/07 19:22:00,371 ERROR [139793431185152] (sensor.cpp:572) acquire_power failed: failed to set power state
 15/07 19:22:00,373 WARNING [139793431185152] (rs.cpp:310) null pointer passed for argument "device"
[ INFO] [1721042526.413809735]:  
 15/07 19:22:06,438 ERROR [139793191134976] (handle-libusb.h:51) failed to open usb interface: 0, error: RS2_USB_STATUS_ACCESS
 15/07 19:22:06,438 ERROR [139793431185152] (sensor.cpp:572) acquire_power failed: failed to set power state
[ WARN] [1721042526.447366259]: Device 1/1 failed with exception: failed to set power state
[ERROR] [1721042526.447702359]: The requested device with  is NOT found. Will Try again.
 15/07 19:22:06,447 WARNING [139793431185152] (rs.cpp:310) null pointer passed for argument "device"
[ INFO] [1721042532.457929439]:  
 15/07 19:22:12,465 ERROR [139793199527680] (handle-libusb.h:51) failed to open usb interface: 0, error: RS2_USB_STATUS_ACCESS
[ WARN] [1721042532.466176607]: Device 1/1 failed with exception: failed to set power state
[ERROR] [1721042532.466351598]: The requested device with  is NOT found. Will Try again.
 15/07 19:22:12,465 ERROR [139793431185152] (sensor.cpp:572) acquire_power failed: failed to set power state
 15/07 19:22:12,466 WARNING [139793431185152] (rs.cpp:310) null pointer passed for argument "device"
[ INFO] [1721042538.479256145]:  
[ WARN] [1721042538.487031482]: Device 1/1 failed with exception: failed to set power state
[ERROR] [1721042538.487358457]: The requested device with  is NOT found. Will Try again.
 15/07 19:22:18,486 ERROR [139793414399744] (handle-libusb.h:51) failed to open usb interface: 0, error: RS2_USB_STATUS_ACCESS
 15/07 19:22:18,486 ERROR [139793431185152] (sensor.cpp:572) acquire_power failed: failed to set power state
 15/07 19:22:18,486 WARNING [139793431185152] (rs.cpp:310) null pointer passed for argument "device"
[ INFO] [1721042544.498030061]:  
[ WARN] [1721042544.504582815]: Device 1/1 failed with exception: failed to set power state
[ERROR] [1721042544.504820675]: The requested device with  is NOT found. Will Try again.
 15/07 19:22:24,503 ERROR [139793191134976] (handle-libusb.h:51) failed to open usb interface: 0, error: RS2_USB_STATUS_ACCESS
 15/07 19:22:24,504 ERROR [139793431185152] (sensor.cpp:572) acquire_power failed: failed to set power state
 15/07 19:22:24,504 WARNING [139793431185152] (rs.cpp:310) null pointer passed for argument "device"
[ INFO] [1721042550.514029531]:  

3.问题

好像是usb接口的问题，运行 rs-enumerate-devices-c，  显示未找到命令。后面再解决（）

rosnoetic@rosnoetic-VirtualBox:~$ rs-enumerate-devices-c
rs-enumerate-devices-c：未找到命令

请问有看到这篇博客的大佬，知道该怎么解决吗？