奥比中光Astra s ,ROS环境配置中问题

配置流程参考astra_s配置

仅个人记录过程遇到问题及解决

1.安装依赖链接不到，根据提示

 sudo apt-get update --fix-missing

2.第一步已经安装了，这里却仍然/usr/bin/ld: cannot find -luvc

/usr/bin/ld: cannot find -luvc
collect2: error: ld returned 1 exit status
ros_astra_camera/CMakeFiles/astra_camera.dir/build.make:400: recipe for target '/home/ubuntu/catkin_camera/devel/lib/libastra_camera.so' failed
make[2]: *** [/home/ubuntu/catkin_camera/devel/lib/libastra_camera.so] Error 1
CMakeFiles/Makefile2:1806: recipe for target 'ros_astra_camera/CMakeFiles/astra_camera.dir/all' failed
make[1]: *** [ros_astra_camera/CMakeFiles/astra_camera.dir/all] Error 2
Makefile:159: recipe for target 'all' failed
make: *** [all] Error 2

解决：源码安装libuvc

3.运行过程有以下问题

[ INFO] [1668405729.403883977]: Waiting for device to be ready
[ INFO] [1668405729.404190342]: Trying to open device: 2bc5/0402@1/6
Warning: USB events thread - failed to set priority. This might cause loss of data...
[ INFO] [1668405734.493432600]: Device connected: Astra serial number: 17111810597
[ INFO] [1668405734.495473982]: Start device
[ WARN] [1668405734.723683345]: Infrared and Color streams are enabled. Infrared stream will be disabled.
[ INFO] [1668405734.725475106]: set depth video mode Resolution :640x480@30Hz
format PIXEL_FORMAT_DEPTH_1_MM
[ INFO] [1668405734.729700394]: set color video mode Resolution :640x480@30Hz
format PIXEL_FORMAT_RGB888
[ WARN] [1668405734.738215473]: Publishing dynamic camera transforms (/tf) at 10 Hz
[ERROR] [1668405734.745449184]: Tried to advertise a service that is already advertised in this node [/camera/camera/set_camera_info]
[ INFO] [1668405734.871446003]: OBCameraNode initialized
[ INFO] [1668405734.872351226]: Release device semaphore
[ INFO] [1668405734.873063237]: Release device semaphore done
[ INFO] [1668405734.874067317]: All devices connected
[ INFO] [1668405734.895223574]: init Done
[ INFO] [1668405734.895701335]: Creating camera node done...
[ INFO] [1668405785.841496746]: Image stream color subscribed
[ INFO] [1668405785.841616473]: Start color stream.
[ INFO] [1668405786.327346774]: color is started
[ INFO] [1668405786.336266640]: using default calibration URL
[ INFO] [1668405786.336490797]: camera calibration URL: file:///home/ubuntu/.ros/camera_info/rgb_17111810597.yaml
[ INFO] [1668405786.336884608]: Unable to open camera calibration file [/home/ubuntu/.ros/camera_info/rgb_17111810597.yaml]
[ WARN] [1668405786.336986242]: Camera calibration file /home/ubuntu/.ros/camera_info/rgb_17111810597.yaml not found.
[ INFO] [1668405790.024279124]: Image stream color unsubscribed

Warning: USB events thread - failed to set priority. This might cause loss of data...

解决:应该是权限问题，sudo -s 进入root在运行

4.rviz问题（未解决）

[ERROR] [1668409336.048574437]: Could not load pixmap '/opt/ros/melodic/share/rviz/icons/visibility.svg'
[ERROR] [1668409336.329514007]: Could not load pixmap '/opt/ros/melodic/share/rviz/icons/rotate.svg'
[ERROR] [1668409336.329661265]: Could not load pixmap 'package://rviz/icons/rotate.svg' -- using default cursor instead.
[ERROR] [1668409336.331281690]: Could not load pixmap '/opt/ros/melodic/share/rviz/icons/rotate_cam.svg'
[ERROR] [1668409336.331390244]: Could not load pixmap 'package://rviz/icons/rotate_cam.svg' -- using default cursor instead.
[ERROR] [1668409336.332885281]: Could not load pixmap '/opt/ros/melodic/share/rviz/icons/move2d.svg'
[ERROR] [1668409336.333792122]: Could not load pixmap 'package://rviz/icons/move2d.svg' -- using default cursor instead.
[ERROR] [1668409336.335531175]: Could not load pixmap '/opt/ros/melodic/share/rviz/icons/move_z.svg'
[ERROR] [1668409336.335645711]: Could not load pixmap 'package://rviz/icons/move_z.svg' -- using default cursor instead.
[ERROR] [1668409336.337488114]: Could not load pixmap '/opt/ros/melodic/share/rviz/icons/zoom.svg'
[ERROR] [1668409336.337602687]: Could not load pixmap 'package://rviz/icons/zoom.svg' -- using default cursor instead.
[ERROR] [1668409336.339344481]: Could not load pixmap '/opt/ros/melodic/share/rviz/icons/crosshair.svg'
[ERROR] [1668409336.339509164]: Could not load pixmap 'package://rviz/icons/crosshair.svg' -- using default cursor instead.
[ERROR] [1668409336.346942592]: Could not load pixmap '/opt/ros/melodic/share/rviz/icons/cursor.svg'
[ERROR] [1668409336.411495920]: Could not load pixmap '/opt/ros/melodic/share/rviz/icons/classes/FocusCamera.svg'
[ERROR] [1668409336.413710596]: Could not load pixmap 'package://rviz/icons/crosshair.svg' -- using default cursor instead.
[ERROR] [1668409336.416206659]: Could not load pixmap '/opt/ros/melodic/share/rviz/icons/classes/Measure.svg'
[ERROR] [1668409336.417716011]: Could not load pixmap 'package://rviz/icons/crosshair.svg' -- using default cursor instead.
[ERROR] [1668409336.436838816]: Could not load pixmap '/opt/ros/melodic/share/rviz/icons/classes/PublishPoint.svg'
[ERROR] [1668409336.445259547]: Could not load pixmap 'package://rviz/icons/rotate.svg' -- using default cursor instead.
[ERROR] [1668409336.445394045]: Could not load pixmap 'package://rviz/icons/rotate_cam.svg' -- using default cursor instead.
[ERROR] [1668409336.445457433]: Could not load pixmap 'package://rviz/icons/move2d.svg' -- using default cursor instead.
[ERROR] [1668409336.445615227]: Could not load pixmap 'package://rviz/icons/move_z.svg' -- using default cursor instead.
[ERROR] [1668409336.445859928]: Could not load pixmap 'package://rviz/icons/zoom.svg' -- using default cursor instead.
[ERROR] [1668409336.445933279]: Could not load pixmap 'package://rviz/icons/crosshair.svg' -- using default cursor instead.
[ERROR] [1668409336.587983055]: Could not load pixmap '/opt/ros/melodic/share/rviz/icons/classes/Displays.svg'
[ERROR] [1668409336.650892476]: Could not load pixmap '/opt/ros/melodic/share/rviz/icons/classes/Views.svg'
[ERROR] [1668409336.681190053]: Could not load pixmap '/opt/ros/melodic/share/rviz/icons/classes/Time.svg'