NVIDIA Jetson TX2 安装 Astra相机的ros驱动源码 错误总结

1. 安装依赖
   确保

$ echo $ROS_DISTRO
melodic

然后安装

sudo apt install ros-$ROS_DISTRO-rgbd-launch \
ros-$ROS_DISTRO-libuvc \
ros-$ROS_DISTRO-libuvc-camera \
ros-$ROS_DISTRO-libuvc-ros

2. 在某一目录下创建工作空间

mkdir -p astra_ros/src
cd astra_ros
catkin_make
source devel/setup.bash

3. 在ROS工作空间下载源码

cd astra_ros/src
git clone https://github.com/orbbec/ros_astra_camera

4. 执行脚本，添加相机设备rule

roscd astra_camera
./scripts/create_udev_rules

5. 编译astra_camera

cd astra_ros
catkin_make --pkg astra_camera 

后面也可以：

catkin_make -j8

这时报错：

CMake Error at /opt/ros/melodic/share/cv_bridge/cmake/cv_bridgeConfig.cmake:113 (message):

参考cv_bridgeConfig.cmake出错

cd /opt/ros/melodic/share/cv_bridge/cmake
sudo gedit cv_bridgeConfig.cmake

if(NOT "include;/usr/include;/usr/include/opencv4 " STREQUAL " ")
  set(cv_bridge_INCLUDE_DIRS "")
  set(_include_dirs "include;/usr/include/opencv4/opencv2;/usr/include/opencv4")

又报错：

/usr/bin/ld: cannot find -luvc
collect2: error: ld returned 1 exit status
ros_astra_camera/CMakeFiles/libuvc_camera_nodelet.dir/build.make:222: recipe for target '/home/wxf/newdisk/ros/astra_ros/devel/lib/liblibuvc_camera_nodelet.so' failed
make[2]: *** [/home/wxf/newdisk/ros/astra_ros/devel/lib/liblibuvc_camera_nodelet.so] Error 1
CMakeFiles/Makefile2:531: recipe for target 'ros_astra_camera/CMakeFiles/libuvc_camera_nodelet.dir/all' failed
make[1]: *** [ros_astra_camera/CMakeFiles/libuvc_camera_nodelet.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 91%] Built target astra_test_wrapper
/usr/bin/ld: cannot find -luvc
collect2: error: ld returned 1 exit status
[ 92%] Built target astra_list_devices
ros_astra_camera/CMakeFiles/camera_node.dir/build.make:222: recipe for target '/home/wxf/newdisk/ros/astra_ros/devel/lib/astra_camera/camera_node' failed
make[2]: *** [/home/wxf/newdisk/ros/astra_ros/devel/lib/astra_camera/camera_node] Error 1
CMakeFiles/Makefile2:569: recipe for target 'ros_astra_camera/CMakeFiles/camera_node.dir/all' failed
make[1]: *** [ros_astra_camera/CMakeFiles/camera_node.dir/all] Error 2
[ 94%] Built target astra_driver_lib
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j8" failed

解决：

$ apt-cache search libuvc-dev
libuvc-dev - cross-platform library for USB video devices - development files
$ sudo apt-get install libuvc-dev

再次

$ catkin_make -j8
...
[ 98%] Built target libuvc_camera_nodelet
[100%] Built target camera_node
[100%] Linking CXX executable /home/wxf/newdisk/ros/astra_ros/devel/lib/astra_camera/astra_camera_node
[100%] Linking CXX shared library /home/wxf/newdisk/ros/astra_ros/devel/lib/libastra_camera_nodelet.so
[100%] Built target astra_camera_nodelet
[100%] Built target astra_camera_node

还有问题：
这时不能显示深度信息，重新安装 uvc
参考 ubuntu18.04编译安装libuvc
这里面有个小错误，已改正成：

sudo apt install libjpeg-dev libusb-1.0-0-dev pkg-config cmake