ubuntu20 ros-noetic-realsense2-camera安装问题

ubuntu20 ros-noetic-realsense2-camera安装问题

###环境：ubuntu 20 相机intel D455
出现错误：

[ERROR] [1700183663.725913222]: The error before refreshing the cache was: Failed to load library /opt/ros/noetic/lib//librealsense2_camera.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 = librealsense2.so.2.50: cannot open shared object file: No such file or directory)
[FATAL] [1700183663.726022509]: Failed to load nodelet ‘/camera/realsense2_cameraof typerealsense2_camera/RealSenseNodeFactoryto managerrealsense2_camera_manager’
[camera/realsense2_camera-2] process has died [pid 37998, exit code 255, cmd /opt/ros/noetic/lib/nodelet/nodelet load realsense2_camera/RealSenseNodeFactory realsense2_camera_manager __name:=realsense2_camera __log:=/home/xiao/.ros/log/a24e205c-84e6-11ee-ba86-63d93b72a952/camera-realsense2_camera-2.log].
log file: /home/xiao/.ros/log/a24e205c-84e6-11ee-ba86-63d93b72a952/camera-realsense2_camera-2*.log

前提：我是使用了源代码安装librealsense又用了命令行安装realsense-ros，这里有个冲突，用命令安装realsense-ros也会同时安装librealsense，所以导致版本冲突，检测不到。
我是使用命令安装：

sudo apt-get install ros-noetic-realsense2-camera

解决办法：

sudo apt-get remove librealsense2-utils
sudo apt-get remove librealsense2-dev
sudo apt-get remove librealsense2-dkms
sudo apt-get remove ros-noetic-realsense2-camera
sudo rm -rf /usr/local/include/librealsense2
sudo rm -rf /usr/local/lib/librealsense*
sudo rm -rf /usr/local/share/realsense-ros

安装：
sudo apt-get install librealsense2-utils
sudo apt-get install librealsense2-dev
sudo apt-get install librealsense2-dkms
sudo apt-get install ros-noetic-realsense2-camera

最后：
source ~/.bashrc