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于 2023-04-15 18:55:26 发布
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本文链接：https://blog.csdn.net/weixin_59663822/article/details/130173793
版权 
xiaonz@xiaonz-virtual-machine:~/catkin_ws/astra_ws$ catkin_make
Base path: /home/xiaonz/catkin_ws/astra_ws
Source space: /home/xiaonz/catkin_ws/astra_ws/src
Build space: /home/xiaonz/catkin_ws/astra_ws/build
Devel space: /home/xiaonz/catkin_ws/astra_ws/devel
Install space: /home/xiaonz/catkin_ws/astra_ws/install
Creating symlink "/home/xiaonz/catkin_ws/astra_ws/src/CMakeLists.txt" pointing to "/opt/ros/melodic/share/catkin/cmake/toplevel.cmake"
####
#### Running command: "cmake /home/xiaonz/catkin_ws/astra_ws/src -DCATKIN_DEVEL_PREFIX=/home/xiaonz/catkin_ws/astra_ws/devel -DCMAKE_INSTALL_PREFIX=/home/xiaonz/catkin_ws/astra_ws/install -G Unix Makefiles" in "/home/xiaonz/catkin_ws/astra_ws/build"
####
-- The C compiler identification is GNU 7.5.0
-- The CXX compiler identification is GNU 7.5.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/xiaonz/catkin_ws/astra_ws/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/melodic
-- This workspace overlays: /opt/ros/melodic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/xiaonz/catkin_ws/astra_ws/build/test_results
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.17") 
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.29
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 1 packages in topological order:
-- ~~  - astra_camera
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'astra_camera'
-- ==> add_subdirectory(ros_astra_camera-master)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Boost version: 1.65.1
-- Found the following Boost libraries:
--   system
--   thread
--   chrono
--   date_time
--   atomic
-- ORRBEC Machine : x86_64

-- ORRBEC Machine Bits : 64

-- ORRBEC : x64
-- libuvc 0.0.6
-- astra_camera: 0 messages, 26 services
-- Configuring done
-- Generating done
-- Build files have been written to: /home/xiaonz/catkin_ws/astra_ws/build
####
#### Running command: "make -j2 -l2" in "/home/xiaonz/catkin_ws/astra_ws/build"
####
Scanning dependencies of target _astra_camera_generate_messages_check_deps_SetIRExposure
Scanning dependencies of target _astra_camera_generate_messages_check_deps_SetUVCExposure
[  0%] Built target _astra_camera_generate_messages_check_deps_SetIRExposure
[  0%] Built target _astra_camera_generate_messages_check_deps_SetUVCExposure
Scanning dependencies of target _astra_camera_generate_messages_check_deps_SwitchIRCamera
Scanning dependencies of target std_msgs_generate_messages_cpp
[  0%] Built target std_msgs_generate_messages_cpp
Scanning dependencies of target _astra_camera_generate_messages_check_deps_SetAutoWhiteBalance
[  0%] Built target _astra_camera_generate_messages_check_deps_SwitchIRCamera
Scanning dependencies of target _astra_camera_generate_messages_check_deps_SetIRGain
[  0%] Built target _astra_camera_generate_messages_check_deps_SetAutoWhiteBalance
Scanning dependencies of target _astra_camera_generate_messages_check_deps_SetLaser
[  0%] Built target _astra_camera_generate_messages_check_deps_SetIRGain
Scanning dependencies of target _astra_camera_generate_messages_check_deps_SetLDP
[  0%] Built target _astra_camera_generate_messages_check_deps_SetLaser
[  0%] Built target _astra_camera_generate_messages_check_deps_SetLDP
Scanning dependencies of target _astra_camera_generate_messages_check_deps_GetUVCGain
Scanning dependencies of target _astra_camera_generate_messages_check_deps_GetCameraInfo
[  0%] Built target _astra_camera_generate_messages_check_deps_GetUVCGain
[  0%] Built target _astra_camera_generate_messages_check_deps_GetCameraInfo
Scanning dependencies of target _astra_camera_generate_messages_check_deps_GetUVCExposure
Scanning dependencies of target _astra_camera_generate_messages_check_deps_ResetIRGain
[  0%] Built target _astra_camera_generate_messages_check_deps_GetUVCExposure
[  0%] Built target _astra_camera_generate_messages_check_deps_ResetIRGain
Scanning dependencies of target _astra_camera_generate_messages_check_deps_GetIRGain
Scanning dependencies of target _astra_camera_generate_messages_check_deps_SetMirror
[  0%] Built target _astra_camera_generate_messages_check_deps_GetIRGain
[  0%] Built target _astra_camera_generate_messages_check_deps_SetMirror
Scanning dependencies of target sensor_msgs_generate_messages_cpp
[  0%] Built target sensor_msgs_generate_messages_cpp
Scanning dependencies of target _astra_camera_generate_messages_check_deps_GetSerial
Scanning dependencies of target _astra_camera_generate_messages_check_deps_SetAeEnable
[  0%] Built target _astra_camera_generate_messages_check_deps_GetSerial
Scanning dependencies of target _astra_camera_generate_messages_check_deps_GetDeviceType
[  0%] Built target _astra_camera_generate_messages_check_deps_SetAeEnable
Scanning dependencies of target _astra_camera_generate_messages_check_deps_SetUVCWhiteBalance
[  0%] Built target _astra_camera_generate_messages_check_deps_GetDeviceType
Scanning dependencies of target _astra_camera_generate_messages_check_deps_GetIRExposure
[  0%] Built target _astra_camera_generate_messages_check_deps_SetUVCWhiteBalance
Scanning dependencies of target _astra_camera_generate_messages_check_deps_ResetIRExposure
[  0%] Built target _astra_camera_generate_messages_check_deps_GetIRExposure
Scanning dependencies of target _astra_camera_generate_messages_check_deps_SetAutoExposure
[  0%] Built target _astra_camera_generate_messages_check_deps_ResetIRExposure
Scanning dependencies of target _astra_camera_generate_messages_check_deps_SetFan
[  0%] Built target _astra_camera_generate_messages_check_deps_SetAutoExposure
Scanning dependencies of target _astra_camera_generate_messages_check_deps_SetUVCGain
[  0%] Built target _astra_camera_generate_messages_check_deps_SetFan
Scanning dependencies of target _astra_camera_generate_messages_check_deps_SetIRFlood
[  0%] Built target _astra_camera_generate_messages_check_deps_SetUVCGain
Scanning dependencies of target _astra_camera_generate_messages_check_deps_GetUVCWhiteBalance
[  0%] Built target _astra_camera_generate_messages_check_deps_SetIRFlood
Scanning dependencies of target _astra_camera_generate_messages_check_deps_GetVersion
[  0%] Built target _astra_camera_generate_messages_check_deps_GetUVCWhiteBalance
Scanning dependencies of target _astra_camera_generate_messages_check_deps_SetDistortioncal
[  0%] Built target _astra_camera_generate_messages_check_deps_GetVersion
Scanning dependencies of target astra_camera_gencfg
[  0%] Generating dynamic reconfigure files from cfg/Astra.cfg: /home/xiaonz/catkin_ws/astra_ws/devel/include/astra_camera/AstraConfig.h /home/xiaonz/catkin_ws/astra_ws/devel/lib/python2.7/dist-packages/astra_camera/cfg/AstraConfig.py
[  0%] Built target _astra_camera_generate_messages_check_deps_SetDistortioncal
Scanning dependencies of target astra_usb_reset
[  0%] Building C object ros_astra_camera-master/CMakeFiles/astra_usb_reset.dir/src/usb_reset.c.o
Generating reconfiguration files for Astra in astra_camera
Wrote header file in /home/xiaonz/catkin_ws/astra_ws/devel/include/astra_camera/AstraConfig.h
[  1%] Linking C executable /home/xiaonz/catkin_ws/astra_ws/devel/lib/astra_camera/astra_usb_reset
[  2%] Generating dynamic reconfigure files from cfg/UVCCamera.cfg: /home/xiaonz/catkin_ws/astra_ws/devel/include/astra_camera/UVCCameraConfig.h /home/xiaonz/catkin_ws/astra_ws/devel/lib/python2.7/dist-packages/astra_camera/cfg/UVCCameraConfig.py
[  2%] Built target astra_usb_reset
Scanning dependencies of target std_msgs_generate_messages_nodejs
Generating reconfiguration files for UVCCamera in libuvc_camera
[  2%] Built target std_msgs_generate_messages_nodejs
Wrote header file in /home/xiaonz/catkin_ws/astra_ws/devel/include/astra_camera/UVCCameraConfig.h
Scanning dependencies of target sensor_msgs_generate_messages_nodejs
[  2%] Built target sensor_msgs_generate_messages_nodejs
Scanning dependencies of target sensor_msgs_generate_messages_lisp
[  2%] Built target sensor_msgs_generate_messages_lisp
Scanning dependencies of target std_msgs_generate_messages_lisp
[  2%] Built target std_msgs_generate_messages_lisp
[  2%] Built target astra_camera_gencfg
Scanning dependencies of target std_msgs_generate_messages_eus
Scanning dependencies of target sensor_msgs_generate_messages_eus
[  2%] Built target std_msgs_generate_messages_eus
[  2%] Built target sensor_msgs_generate_messages_eus
Scanning dependencies of target sensor_msgs_generate_messages_py
Scanning dependencies of target std_msgs_generate_messages_py
[  2%] Built target sensor_msgs_generate_messages_py
[  2%] Built target std_msgs_generate_messages_py
Scanning dependencies of target astra_camera_generate_messages_cpp
Scanning dependencies of target astra_camera_generate_messages_nodejs
[  2%] Generating C++ code from astra_camera/SetAutoWhiteBalance.srv
[  2%] Generating Javascript code from astra_camera/SetAutoWhiteBalance.srv
[  3%] Generating Javascript code from astra_camera/SwitchIRCamera.srv
[  3%] Generating Javascript code from astra_camera/SetIRFlood.srv
[  4%] Generating Javascript code from astra_camera/SetUVCGain.srv
[  4%] Generating Javascript code from astra_camera/ResetIRExposure.srv
[  5%] Generating Javascript code from astra_camera/SetLDP.srv
[  6%] Generating C++ code from astra_camera/SwitchIRCamera.srv
[  7%] Generating Javascript code from astra_camera/SetAutoExposure.srv
[  7%] Generating Javascript code from astra_camera/SetFan.srv
[  8%] Generating Javascript code from astra_camera/GetIRExposure.srv
[  8%] Generating Javascript code from astra_camera/SetIRGain.srv
[  9%] Generating Javascript code from astra_camera/SetAeEnable.srv
[  9%] Generating Javascript code from astra_camera/ResetIRGain.srv
[  9%] Generating C++ code from astra_camera/SetIRFlood.srv
[ 10%] Generating Javascript code from astra_camera/GetDeviceType.srv
[ 10%] Generating Javascript code from astra_camera/GetVersion.srv
[ 11%] Generating Javascript code from astra_camera/GetUVCWhiteBalance.srv
[ 12%] Generating Javascript code from astra_camera/GetUVCGain.srv
[ 12%] Generating Javascript code from astra_camera/GetUVCExposure.srv
[ 13%] Generating Javascript code from astra_camera/SetMirror.srv
[ 14%] Generating C++ code from astra_camera/SetUVCGain.srv
[ 14%] Generating Javascript code from astra_camera/SetUVCExposure.srv
[ 15%] Generating Javascript code from astra_camera/GetIRGain.srv
[ 15%] Generating Javascript code from astra_camera/SetLaser.srv
[ 17%] Generating Javascript code from astra_camera/SetDistortioncal.srv
[ 18%] Generating Javascript code from astra_camera/SetUVCWhiteBalance.srv
[ 18%] Generating Javascript code from astra_camera/GetSerial.srv
[ 18%] Generating C++ code from astra_camera/ResetIRExposure.srv
[ 19%] Generating Javascript code from astra_camera/SetIRExposure.srv
[ 19%] Generating Javascript code from astra_camera/GetCameraInfo.srv
[ 19%] Built target astra_camera_generate_messages_nodejs
Scanning dependencies of target astra_camera_generate_messages_lisp
[ 19%] Generating Lisp code from astra_camera/SetAutoWhiteBalance.srv
[ 20%] Generating Lisp code from astra_camera/SwitchIRCamera.srv
[ 20%] Generating Lisp code from astra_camera/SetIRFlood.srv
[ 21%] Generating C++ code from astra_camera/SetLDP.srv
[ 22%] Generating Lisp code from astra_camera/SetUVCGain.srv
[ 23%] Generating Lisp code from astra_camera/ResetIRExposure.srv
[ 23%] Generating Lisp code from astra_camera/SetLDP.srv
[ 24%] Generating Lisp code from astra_camera/SetAutoExposure.srv
[ 24%] Generating Lisp code from astra_camera/SetFan.srv
[ 25%] Generating C++ code from astra_camera/SetAutoExposure.srv
[ 26%] Generating Lisp code from astra_camera/GetIRExposure.srv
[ 26%] Generating Lisp code from astra_camera/SetIRGain.srv
[ 27%] Generating Lisp code from astra_camera/SetAeEnable.srv
[ 28%] Generating Lisp code from astra_camera/ResetIRGain.srv
[ 28%] Generating Lisp code from astra_camera/GetDeviceType.srv
[ 29%] Generating C++ code from astra_camera/SetFan.srv
[ 29%] Generating Lisp code from astra_camera/GetVersion.srv
[ 29%] Generating Lisp code from astra_camera/GetUVCWhiteBalance.srv
[ 30%] Generating Lisp code from astra_camera/GetUVCGain.srv
[ 30%] Generating Lisp code from astra_camera/GetUVCExposure.srv
[ 31%] Generating Lisp code from astra_camera/SetMirror.srv
[ 32%] Generating Lisp code from astra_camera/SetUVCExposure.srv
[ 34%] Generating C++ code from astra_camera/GetIRExposure.srv
[ 34%] Generating Lisp code from astra_camera/GetIRGain.srv
[ 35%] Generating Lisp code from astra_camera/SetLaser.srv
[ 35%] Generating Lisp code from astra_camera/SetDistortioncal.srv
[ 36%] Generating Lisp code from astra_camera/SetUVCWhiteBalance.srv
[ 36%] Generating Lisp code from astra_camera/GetSerial.srv
[ 37%] Generating Lisp code from astra_camera/SetIRExposure.srv
[ 37%] Generating C++ code from astra_camera/SetIRGain.srv
[ 38%] Generating Lisp code from astra_camera/GetCameraInfo.srv
[ 38%] Built target astra_camera_generate_messages_lisp
[ 39%] Generating C++ code from astra_camera/SetAeEnable.srv
Scanning dependencies of target astra_camera_generate_messages_eus
[ 40%] Generating EusLisp code from astra_camera/SetAutoWhiteBalance.srv
[ 40%] Generating C++ code from astra_camera/ResetIRGain.srv
[ 41%] Generating EusLisp code from astra_camera/SwitchIRCamera.srv
[ 41%] Generating EusLisp code from astra_camera/SetIRFlood.srv
[ 42%] Generating EusLisp code from astra_camera/SetUVCGain.srv
[ 42%] Generating EusLisp code from astra_camera/ResetIRExposure.srv
[ 43%] Generating C++ code from astra_camera/GetDeviceType.srv
[ 44%] Generating EusLisp code from astra_camera/SetLDP.srv
[ 44%] Generating EusLisp code from astra_camera/SetAutoExposure.srv
[ 45%] Generating EusLisp code from astra_camera/SetFan.srv
[ 46%] Generating C++ code from astra_camera/GetVersion.srv
[ 47%] Generating EusLisp code from astra_camera/GetIRExposure.srv
[ 47%] Generating EusLisp code from astra_camera/SetIRGain.srv
[ 48%] Generating EusLisp code from astra_camera/SetAeEnable.srv
[ 48%] Generating C++ code from astra_camera/GetUVCWhiteBalance.srv
[ 48%] Generating EusLisp code from astra_camera/ResetIRGain.srv
[ 50%] Generating EusLisp code from astra_camera/GetDeviceType.srv
[ 50%] Generating EusLisp code from astra_camera/GetVersion.srv
[ 51%] Generating EusLisp code from astra_camera/GetUVCWhiteBalance.srv
[ 52%] Generating C++ code from astra_camera/GetUVCGain.srv
[ 53%] Generating EusLisp code from astra_camera/GetUVCGain.srv
[ 53%] Generating EusLisp code from astra_camera/GetUVCExposure.srv
[ 54%] Generating EusLisp code from astra_camera/SetMirror.srv
[ 54%] Generating C++ code from astra_camera/GetUVCExposure.srv
[ 54%] Generating EusLisp code from astra_camera/SetUVCExposure.srv
[ 55%] Generating EusLisp code from astra_camera/GetIRGain.srv
[ 55%] Generating EusLisp code from astra_camera/SetLaser.srv
[ 56%] Generating C++ code from astra_camera/SetMirror.srv
[ 57%] Generating EusLisp code from astra_camera/SetDistortioncal.srv
[ 57%] Generating EusLisp code from astra_camera/SetUVCWhiteBalance.srv
[ 58%] Generating EusLisp code from astra_camera/GetSerial.srv
[ 58%] Generating C++ code from astra_camera/SetUVCExposure.srv
[ 59%] Generating EusLisp code from astra_camera/SetIRExposure.srv
[ 59%] Generating EusLisp code from astra_camera/GetCameraInfo.srv
[ 60%] Generating EusLisp manifest code for astra_camera
[ 61%] Generating C++ code from astra_camera/GetIRGain.srv
[ 62%] Generating C++ code from astra_camera/SetLaser.srv
[ 62%] Generating C++ code from astra_camera/SetDistortioncal.srv
[ 63%] Generating C++ code from astra_camera/SetUVCWhiteBalance.srv
[ 63%] Built target astra_camera_generate_messages_eus
Scanning dependencies of target astra_camera_generate_messages_py
[ 64%] Generating Python code from SRV astra_camera/SetAutoWhiteBalance
[ 64%] Generating C++ code from astra_camera/GetSerial.srv
[ 64%] Generating Python code from SRV astra_camera/SwitchIRCamera
[ 65%] Generating C++ code from astra_camera/SetIRExposure.srv
[ 67%] Generating Python code from SRV astra_camera/SetIRFlood
[ 68%] Generating Python code from SRV astra_camera/SetUVCGain
[ 68%] Generating C++ code from astra_camera/GetCameraInfo.srv
[ 68%] Generating Python code from SRV astra_camera/ResetIRExposure
[ 68%] Built target astra_camera_generate_messages_cpp
Scanning dependencies of target libuvc_camera_nodelet
[ 69%] Generating Python code from SRV astra_camera/SetLDP
[ 70%] Building CXX object ros_astra_camera-master/CMakeFiles/libuvc_camera_nodelet.dir/src/libuvc_camera/nodelet.cpp.o
[ 70%] Generating Python code from SRV astra_camera/SetAutoExposure
[ 71%] Generating Python code from SRV astra_camera/SetFan
[ 71%] Generating Python code from SRV astra_camera/GetIRExposure
[ 72%] Generating Python code from SRV astra_camera/SetIRGain
[ 73%] Generating Python code from SRV astra_camera/SetAeEnable
[ 73%] Generating Python code from SRV astra_camera/ResetIRGain
[ 74%] Generating Python code from SRV astra_camera/GetDeviceType
[ 74%] Generating Python code from SRV astra_camera/GetVersion
[ 75%] Generating Python code from SRV astra_camera/GetUVCWhiteBalance
[ 75%] Generating Python code from SRV astra_camera/GetUVCGain
[ 76%] Generating Python code from SRV astra_camera/GetUVCExposure
[ 77%] Generating Python code from SRV astra_camera/SetMirror
[ 77%] Generating Python code from SRV astra_camera/SetUVCExposure
[ 78%] Generating Python code from SRV astra_camera/GetIRGain
[ 78%] Generating Python code from SRV astra_camera/SetLaser
[ 79%] Generating Python code from SRV astra_camera/SetDistortioncal
[ 79%] Generating Python code from SRV astra_camera/SetUVCWhiteBalance
[ 79%] Building CXX object ros_astra_camera-master/CMakeFiles/libuvc_camera_nodelet.dir/src/libuvc_camera/camera_driver.cpp.o
[ 80%] Generating Python code from SRV astra_camera/GetSerial
[ 81%] Generating Python code from SRV astra_camera/SetIRExposure
[ 81%] Generating Python code from SRV astra_camera/GetCameraInfo
[ 82%] Generating Python srv __init__.py for astra_camera
[ 82%] Built target astra_camera_generate_messages_py
Scanning dependencies of target camera_node
[ 82%] Building CXX object ros_astra_camera-master/CMakeFiles/camera_node.dir/src/libuvc_camera/main.cpp.o
[ 84%] Building CXX object ros_astra_camera-master/CMakeFiles/camera_node.dir/src/libuvc_camera/camera_driver.cpp.o
[ 85%] Building CXX object ros_astra_camera-master/CMakeFiles/libuvc_camera_nodelet.dir/src/astra_device_type.cpp.o
[ 86%] Linking CXX shared library /home/xiaonz/catkin_ws/astra_ws/devel/lib/liblibuvc_camera_nodelet.so
[ 86%] Built target libuvc_camera_nodelet
[ 86%] Building CXX object ros_astra_camera-master/CMakeFiles/camera_node.dir/src/astra_device_type.cpp.o
Scanning dependencies of target astra_wrapper
[ 87%] Building CXX object ros_astra_camera-master/CMakeFiles/astra_wrapper.dir/src/astra_convert.cpp.o
[ 87%] Building CXX object ros_astra_camera-master/CMakeFiles/astra_wrapper.dir/src/astra_device.cpp.o
[ 88%] Linking CXX executable /home/xiaonz/catkin_ws/astra_ws/devel/lib/astra_camera/camera_node
[ 88%] Built target camera_node
[ 89%] Building CXX object ros_astra_camera-master/CMakeFiles/astra_wrapper.dir/src/astra_device_info.cpp.o
[ 89%] Building CXX object ros_astra_camera-master/CMakeFiles/astra_wrapper.dir/src/astra_timer_filter.cpp.o
[ 90%] Building CXX object ros_astra_camera-master/CMakeFiles/astra_wrapper.dir/src/astra_frame_listener.cpp.o
[ 90%] Building CXX object ros_astra_camera-master/CMakeFiles/astra_wrapper.dir/src/astra_device_manager.cpp.o
[ 91%] Building CXX object ros_astra_camera-master/CMakeFiles/astra_wrapper.dir/src/astra_exception.cpp.o
[ 92%] Building CXX object ros_astra_camera-master/CMakeFiles/astra_wrapper.dir/src/astra_video_mode.cpp.o
[ 92%] Building CXX object ros_astra_camera-master/CMakeFiles/astra_wrapper.dir/src/astra_device_type.cpp.o
Scanning dependencies of target astra_camera_generate_messages
[ 92%] Built target astra_camera_generate_messages
[ 93%] Linking CXX shared library /home/xiaonz/catkin_ws/astra_ws/devel/lib/libastra_wrapper.so
[ 93%] Built target astra_wrapper
Scanning dependencies of target astra_list_devices
Scanning dependencies of target astra_test_wrapper
[ 93%] Building CXX object ros_astra_camera-master/CMakeFiles/astra_list_devices.dir/src/list_devices.cpp.o
[ 93%] Building CXX object ros_astra_camera-master/CMakeFiles/astra_test_wrapper.dir/test/test_wrapper.cpp.o
[ 94%] Linking CXX executable /home/xiaonz/catkin_ws/astra_ws/devel/lib/astra_camera/astra_list_devices
[ 94%] Built target astra_list_devices
Scanning dependencies of target astra_driver_lib
[ 94%] Building CXX object ros_astra_camera-master/CMakeFiles/astra_driver_lib.dir/src/astra_driver.cpp.o
[ 95%] Linking CXX executable /home/xiaonz/catkin_ws/astra_ws/devel/lib/astra_camera/astra_test_wrapper
[ 95%] Built target astra_test_wrapper
[ 96%] Building CXX object ros_astra_camera-master/CMakeFiles/astra_driver_lib.dir/src/astra_device_type.cpp.o
[ 97%] Linking CXX shared library /home/xiaonz/catkin_ws/astra_ws/devel/lib/libastra_driver_lib.so
[ 97%] Built target astra_driver_lib
Scanning dependencies of target astra_camera_node
Scanning dependencies of target astra_camera_nodelet
[ 97%] Building CXX object ros_astra_camera-master/CMakeFiles/astra_camera_node.dir/ros/astra_camera_node.cpp.o
[ 97%] Building CXX object ros_astra_camera-master/CMakeFiles/astra_camera_nodelet.dir/ros/astra_camera_nodelet.cpp.o
[ 98%] Linking CXX executable /home/xiaonz/catkin_ws/astra_ws/devel/lib/astra_camera/astra_camera_node
[100%] Linking CXX shared library /home/xiaonz/catkin_ws/astra_ws/devel/lib/libastra_camera_nodelet.so
[100%] Built target astra_camera_node
[100%] Built target astra_camera_nodelet
xiaonz@xiaonz-virtual-machine:~/catkin_ws/astra_ws$ source devel/setup.bash 
xiaonz@xiaonz-virtual-machine:~/catkin_ws/astra_ws$ roslaunch astra_camera 
astra_frames.launch     device.launch           multi_stereo_u3.launch
astra.launch            embedded_s.launch       pointclouds.launch
astraplus.launch        ir.launch               processing.launch
astrapro.launch         manager.launch          stereo_s_u3.launch
color.launch            multi_astra.launch      
depth.launch            multi_embedded.launch   
xiaonz@xiaonz-virtual-machine:~/catkin_ws/astra_ws$ roslaunch astra_camera 
astra_frames.launch     device.launch           multi_stereo_u3.launch
astra.launch            embedded_s.launch       pointclouds.launch
astraplus.launch        ir.launch               processing.launch
astrapro.launch         manager.launch          stereo_s_u3.launch
color.launch            multi_astra.launch      
depth.launch            multi_embedded.launch   
xiaonz@xiaonz-virtual-machine:~/catkin_ws/astra_ws$ roslaunch astra_camera astra.launch 
... logging to /home/xiaonz/.ros/log/f5c6ea46-db6a-11ed-abf0-000c29de8fa4/roslaunch-xiaonz-virtual-machine-4846.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://xiaonz-virtual-machine:38693/

SUMMARY
========

PARAMETERS
 * /camera/camera_nodelet_manager/num_worker_threads: 4
 * /camera/depth_rectify_depth/interpolation: 0
 * /camera/depth_registered_rectify_depth/interpolation: 0
 * /camera/driver/auto_exposure: True
 * /camera/driver/auto_white_balance: True
 * /camera/driver/bootorder: 0
 * /camera/driver/color_depth_synchronization: False
 * /camera/driver/depth_camera_info_url: 
 * /camera/driver/depth_frame_id: camera_depth_opti...
 * /camera/driver/depth_registration: True
 * /camera/driver/device_id: #1
 * /camera/driver/devnums: 1
 * /camera/driver/rgb_camera_info_url: 
 * /camera/driver/rgb_frame_id: camera_rgb_optica...
 * /rosdistro: melodic
 * /rosversion: 1.14.13

NODES
  /
    camera_base_link (tf2_ros/static_transform_publisher)
    camera_base_link1 (tf2_ros/static_transform_publisher)
    camera_base_link2 (tf2_ros/static_transform_publisher)
    camera_base_link3 (tf2_ros/static_transform_publisher)
  /camera/
    camera_nodelet_manager (nodelet/nodelet)
    depth_metric (nodelet/nodelet)
    depth_metric_rect (nodelet/nodelet)
    depth_points (nodelet/nodelet)
    depth_rectify_depth (nodelet/nodelet)
    depth_registered_hw_metric_rect (nodelet/nodelet)
    depth_registered_metric (nodelet/nodelet)
    depth_registered_rectify_depth (nodelet/nodelet)
    driver (nodelet/nodelet)
    points_xyzrgb_hw_registered (nodelet/nodelet)
    rgb_rectify_color (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [4857]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to f5c6ea46-db6a-11ed-abf0-000c29de8fa4
process[rosout-1]: started with pid [4868]
started core service [/rosout]
process[camera/camera_nodelet_manager-2]: started with pid [4871]
process[camera/driver-3]: started with pid [4876]
process[camera/rgb_rectify_color-4]: started with pid [4881]
process[camera/depth_rectify_depth-5]: started with pid [4883]
process[camera/depth_metric_rect-6]: started with pid [4884]
process[camera/depth_metric-7]: started with pid [4895]
[ INFO] [1681548795.948883507]: Initializing nodelet with 4 worker threads.
process[camera/depth_points-8]: started with pid [4900]
process[camera/depth_registered_rectify_depth-9]: started with pid [4922]
process[camera/points_xyzrgb_hw_registered-10]: started with pid [4923]
process[camera/depth_registered_hw_metric_rect-11]: started with pid [4929]
process[camera/depth_registered_metric-12]: started with pid [4936]
process[camera_base_link-13]: started with pid [4941]
process[camera_base_link1-14]: started with pid [4943]
process[camera_base_link2-15]: started with pid [4950]
process[camera_base_link3-16]: started with pid [4959]
[ INFO] [1681548796.200319910]: No matching device found.... waiting for devices. Reason: std::__cxx11::string astra_wrapper::AstraDriver::resolveDeviceURI(const string&) @ /home/xiaonz/catkin_ws/astra_ws/src/ros_astra_camera-master/src/astra_driver.cpp @ 1155 : Invalid device number 1, there are 0 devices connected.
[ INFO] [1681548799.201289230]: No matching device found.... waiting for devices. Reason: std::__cxx11::string astra_wrapper::AstraDriver::resolveDeviceURI(const string&) @ /home/xiaonz/catkin_ws/astra_ws/src/ros_astra_camera-master/src/astra_driver.cpp @ 1155 : Invalid device number 1, there are 0 devices connected.
^C[camera_base_link3-16] killing on exit
[camera_base_link2-15] killing on exit
[camera_base_link1-14] killing on exit
[camera_base_link-13] killing on exit
[camera/depth_registered_metric-12] killing on exit
[camera/depth_registered_hw_metric_rect-11] killing on exit
[camera/points_xyzrgb_hw_registered-10] killing on exit
[camera/depth_registered_rectify_depth-9] killing on exit
[camera/depth_points-8] killing on exit
[camera/depth_metric-7] killing on exit
[camera/depth_metric_rect-6] killing on exit
[camera/depth_rectify_depth-5] killing on exit
[camera/rgb_rectify_color-4] killing on exit
[camera/driver-3] killing on exit
[camera/camera_nodelet_manager-2] killing on exit
^C^C^C^C^C^C[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
xiaonz@xiaonz-virtual-machine:~/catkin_ws/astra_ws$ roslaunch astra_camera astra.launch 
... logging to /home/xiaonz/.ros/log/fd397320-db6a-11ed-abf0-000c29de8fa4/roslaunch-xiaonz-virtual-machine-4987.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://xiaonz-virtual-machine:46861/

SUMMARY
========

PARAMETERS
 * /camera/camera_nodelet_manager/num_worker_threads: 4
 * /camera/depth_rectify_depth/interpolation: 0
 * /camera/depth_registered_rectify_depth/interpolation: 0
 * /camera/driver/auto_exposure: True
 * /camera/driver/auto_white_balance: True
 * /camera/driver/bootorder: 0
 * /camera/driver/color_depth_synchronization: False
 * /camera/driver/depth_camera_info_url: 
 * /camera/driver/depth_frame_id: camera_depth_opti...
 * /camera/driver/depth_registration: True
 * /camera/driver/device_id: #1
 * /camera/driver/devnums: 1
 * /camera/driver/rgb_camera_info_url: 
 * /camera/driver/rgb_frame_id: camera_rgb_optica...
 * /rosdistro: melodic
 * /rosversion: 1.14.13

NODES
  /
    camera_base_link (tf2_ros/static_transform_publisher)
    camera_base_link1 (tf2_ros/static_transform_publisher)
    camera_base_link2 (tf2_ros/static_transform_publisher)
    camera_base_link3 (tf2_ros/static_transform_publisher)
  /camera/
    camera_nodelet_manager (nodelet/nodelet)
    depth_metric (nodelet/nodelet)
    depth_metric_rect (nodelet/nodelet)
    depth_points (nodelet/nodelet)
    depth_rectify_depth (nodelet/nodelet)
    depth_registered_hw_metric_rect (nodelet/nodelet)
    depth_registered_metric (nodelet/nodelet)
    depth_registered_rectify_depth (nodelet/nodelet)
    driver (nodelet/nodelet)
    points_xyzrgb_hw_registered (nodelet/nodelet)
    rgb_rectify_color (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [4997]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to fd397320-db6a-11ed-abf0-000c29de8fa4
process[rosout-1]: started with pid [5008]
started core service [/rosout]
process[camera/camera_nodelet_manager-2]: started with pid [5014]
process[camera/driver-3]: started with pid [5016]
process[camera/rgb_rectify_color-4]: started with pid [5018]
process[camera/depth_rectify_depth-5]: started with pid [5024]
process[camera/depth_metric_rect-6]: started with pid [5033]
[ INFO] [1681548808.389179367]: Initializing nodelet with 4 worker threads.
process[camera/depth_metric-7]: started with pid [5035]
process[camera/depth_points-8]: started with pid [5050]
process[camera/depth_registered_rectify_depth-9]: started with pid [5056]
process[camera/points_xyzrgb_hw_registered-10]: started with pid [5067]
process[camera/depth_registered_hw_metric_rect-11]: started with pid [5072]
[ INFO] [1681548808.459600962]: No matching device found.... waiting for devices. Reason: std::__cxx11::string astra_wrapper::AstraDriver::resolveDeviceURI(const string&) @ /home/xiaonz/catkin_ws/astra_ws/src/ros_astra_camera-master/src/astra_driver.cpp @ 1155 : Invalid device number 1, there are 0 devices connected.
process[camera/depth_registered_metric-12]: started with pid [5078]
process[camera_base_link-13]: started with pid [5085]
process[camera_base_link1-14]: started with pid [5090]
process[camera_base_link2-15]: started with pid [5091]
process[camera_base_link3-16]: started with pid [5097]
[ INFO] [1681548811.460190242]: No matching device found.... waiting for devices. Reason: std::__cxx11::string astra_wrapper::AstraDriver::resolveDeviceURI(const string&) @ /home/xiaonz/catkin_ws/astra_ws/src/ros_astra_camera-master/src/astra_driver.cpp @ 1155 : Invalid device number 1, there are 0 devices connected.
[ INFO] [1681548814.460570198]: No matching device found.... waiting for devices. Reason: std::__cxx11::string astra_wrapper::AstraDriver::resolveDeviceURI(const string&) @ /home/xiaonz/catkin_ws/astra_ws/src/ros_astra_camera-master/src/astra_driver.cpp @ 1155 : Invalid device number 1, there are 0 devices connected.
[ INFO] [1681548817.462040662]: No matching device found.... waiting for devices. Reason: std::__cxx11::string astra_wrapper::AstraDriver::resolveDeviceURI(const string&) @ /home/xiaonz/catkin_ws/astra_ws/src/ros_astra_camera-master/src/astra_driver.cpp @ 1155 : Invalid device number 1, there are 0 devices connected.
^C[camera_base_link3-16] killing on exit
[camera_base_link2-15] killing on exit
[camera_base_link1-14] killing on exit
[camera_base_link-13] killing on exit
[camera/depth_registered_hw_metric_rect-11] killing on exit
[camera/depth_registered_metric-12] killing on exit
[camera/points_xyzrgb_hw_registered-10] killing on exit
[camera/depth_registered_rectify_depth-9] killing on exit
[camera/depth_points-8] killing on exit
[camera/depth_metric-7] killing on exit
[camera/depth_metric_rect-6] killing on exit
^C[camera/depth_rectify_depth-5] killing on exit
[camera/rgb_rectify_color-4] killing on exit
[camera/driver-3] killing on exit
[camera/camera_nodelet_manager-2] killing on exit
^C^C^C[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
xiaonz@xiaonz-virtual-machine:~/catkin_ws/astra_ws$  roslaunch astra_camera astra.launch
... logging to /home/xiaonz/.ros/log/c584a79c-db74-11ed-abf0-000c29de8fa4/roslaunch-xiaonz-virtual-machine-5453.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://xiaonz-virtual-machine:43167/

SUMMARY
========

PARAMETERS
 * /camera/camera_nodelet_manager/num_worker_threads: 4
 * /camera/depth_rectify_depth/interpolation: 0
 * /camera/depth_registered_rectify_depth/interpolation: 0
 * /camera/driver/auto_exposure: True
 * /camera/driver/auto_white_balance: True
 * /camera/driver/bootorder: 0
 * /camera/driver/color_depth_synchronization: False
 * /camera/driver/depth_camera_info_url: 
 * /camera/driver/depth_frame_id: camera_depth_opti...
 * /camera/driver/depth_registration: True
 * /camera/driver/device_id: #1
 * /camera/driver/devnums: 1
 * /camera/driver/rgb_camera_info_url: 
 * /camera/driver/rgb_frame_id: camera_rgb_optica...
 * /rosdistro: melodic
 * /rosversion: 1.14.13

NODES
  /
    camera_base_link (tf2_ros/static_transform_publisher)
    camera_base_link1 (tf2_ros/static_transform_publisher)
    camera_base_link2 (tf2_ros/static_transform_publisher)
    camera_base_link3 (tf2_ros/static_transform_publisher)
  /camera/
    camera_nodelet_manager (nodelet/nodelet)
    depth_metric (nodelet/nodelet)
    depth_metric_rect (nodelet/nodelet)
    depth_points (nodelet/nodelet)
    depth_rectify_depth (nodelet/nodelet)
    depth_registered_hw_metric_rect (nodelet/nodelet)
    depth_registered_metric (nodelet/nodelet)
    depth_registered_rectify_depth (nodelet/nodelet)
    driver (nodelet/nodelet)
    points_xyzrgb_hw_registered (nodelet/nodelet)
    rgb_rectify_color (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [5463]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to c584a79c-db74-11ed-abf0-000c29de8fa4
process[rosout-1]: started with pid [5474]
started core service [/rosout]
process[camera/camera_nodelet_manager-2]: started with pid [5480]
process[camera/driver-3]: started with pid [5482]
process[camera/rgb_rectify_color-4]: started with pid [5483]
process[camera/depth_rectify_depth-5]: started with pid [5494]
[ INFO] [1681553009.927753283]: Initializing nodelet with 4 worker threads.
process[camera/depth_metric_rect-6]: started with pid [5500]
process[camera/depth_metric-7]: started with pid [5508]
process[camera/depth_points-8]: started with pid [5518]
process[camera/depth_registered_rectify_depth-9]: started with pid [5524]
[ INFO] [1681553009.979838411]: Device "2bc5/0403@1/8" found.
process[camera/points_xyzrgb_hw_registered-10]: started with pid [5531]
process[camera/depth_registered_hw_metric_rect-11]: started with pid [5533]
process[camera/depth_registered_metric-12]: started with pid [5535]
process[camera_base_link-13]: started with pid [5550]
process[camera_base_link1-14]: started with pid [5556]
Warning: USB events thread - failed to set priority. This might cause loss of data...
process[camera_base_link2-15]: started with pid [5560]
process[camera_base_link3-16]: started with pid [5564]
[ INFO] [1681553010.214277380]: device name: Orbbec Astra Pro

Astra
cd

roslaunch astra.launch



^C[camera_base_link3-16] killing on exit
[camera_base_link2-15] killing on exit
[camera_base_link1-14] killing on exit
[camera_base_link-13] killing on exit
[camera/depth_registered_metric-12] killing on exit
[camera/points_xyzrgb_hw_registered-10] killing on exit
[camera/depth_registered_hw_metric_rect-11] killing on exit
[camera/depth_registered_rectify_depth-9] killing on exit
[camera/depth_points-8] killing on exit
[camera/depth_metric-7] killing on exit
[camera/depth_metric_rect-6] killing on exit
[camera/depth_rectify_depth-5] killing on exit
[camera/rgb_rectify_color-4] killing on exit
[camera/driver-3] killing on exit
[camera/camera_nodelet_manager-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
xiaonz@xiaonz-virtual-machine:~/catkin_ws/astra_ws$ roslaunch astra_camera
RLException: [astra_camera] is not a launch file name
The traceback for the exception was written to the log file
xiaonz@xiaonz-virtual-machine:~/catkin_ws/astra_ws$ roslaunch astra_camera astra.launch
... logging to /home/xiaonz/.ros/log/4871532a-db76-11ed-abf0-000c29de8fa4/roslaunch-xiaonz-virtual-machine-5832.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://xiaonz-virtual-machine:39425/

SUMMARY
========

PARAMETERS
 * /camera/camera_nodelet_manager/num_worker_threads: 4
 * /camera/depth_rectify_depth/interpolation: 0
 * /camera/depth_registered_rectify_depth/interpolation: 0
 * /camera/driver/auto_exposure: True
 * /camera/driver/auto_white_balance: True
 * /camera/driver/bootorder: 0
 * /camera/driver/color_depth_synchronization: False
 * /camera/driver/depth_camera_info_url: 
 * /camera/driver/depth_frame_id: camera_depth_opti...
 * /camera/driver/depth_registration: True
 * /camera/driver/device_id: #1
 * /camera/driver/devnums: 1
 * /camera/driver/rgb_camera_info_url: 
 * /camera/driver/rgb_frame_id: camera_rgb_optica...
 * /rosdistro: melodic
 * /rosversion: 1.14.13

NODES
  /
    camera_base_link (tf2_ros/static_transform_publisher)
    camera_base_link1 (tf2_ros/static_transform_publisher)
    camera_base_link2 (tf2_ros/static_transform_publisher)
    camera_base_link3 (tf2_ros/static_transform_publisher)
  /camera/
    camera_nodelet_manager (nodelet/nodelet)
    depth_metric (nodelet/nodelet)
    depth_metric_rect (nodelet/nodelet)
    depth_points (nodelet/nodelet)
    depth_rectify_depth (nodelet/nodelet)
    depth_registered_hw_metric_rect (nodelet/nodelet)
    depth_registered_metric (nodelet/nodelet)
    depth_registered_rectify_depth (nodelet/nodelet)
    driver (nodelet/nodelet)
    points_xyzrgb_hw_registered (nodelet/nodelet)
    rgb_rectify_color (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [5842]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 4871532a-db76-11ed-abf0-000c29de8fa4
process[rosout-1]: started with pid [5853]
started core service [/rosout]
process[camera/camera_nodelet_manager-2]: started with pid [5859]
process[camera/driver-3]: started with pid [5861]
[ INFO] [1681553659.061831668]: Initializing nodelet with 4 worker threads.
process[camera/rgb_rectify_color-4]: started with pid [5865]
process[camera/depth_rectify_depth-5]: started with pid [5879]
process[camera/depth_metric_rect-6]: started with pid [5880]
process[camera/depth_metric-7]: started with pid [5887]
process[camera/depth_points-8]: started with pid [5891]
process[camera/depth_registered_rectify_depth-9]: started with pid [5895]
process[camera/points_xyzrgb_hw_registered-10]: started with pid [5900]
[ INFO] [1681553659.130994155]: Device "2bc5/0403@1/8" found.
process[camera/depth_registered_hw_metric_rect-11]: started with pid [5908]
process[camera/depth_registered_metric-12]: started with pid [5922]
Warning: USB events thread - failed to set priority. This might cause loss of data...
process[camera_base_link-13]: started with pid [5930]
process[camera_base_link1-14]: started with pid [5933]
process[camera_base_link2-15]: started with pid [5938]
process[camera_base_link3-16]: started with pid [5945]
[ INFO] [1681553659.331863164]: device name: Orbbec Astra Pro
^C[camera_base_link3-16] killing on exit
[camera_base_link1-14] killing on exit
[camera_base_link2-15] killing on exit
[camera_base_link-13] killing on exit
[camera/depth_registered_metric-12] killing on exit
[camera/depth_registered_hw_metric_rect-11] killing on exit
[camera/points_xyzrgb_hw_registered-10] killing on exit
[camera/depth_registered_rectify_depth-9] killing on exit
[camera/depth_metric-7] killing on exit
[camera/depth_points-8] killing on exit
[camera/depth_metric_rect-6] killing on exit
[camera/depth_rectify_depth-5] killing on exit
[camera/rgb_rectify_color-4] killing on exit
[camera/driver-3] killing on exit
[camera/camera_nodelet_manager-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
xiaonz@xiaonz-virtual-machine:~/catkin_ws/astra_ws$ roslaunch astra.launch
RLException: [astra.launch] is not a launch file name
The traceback for the exception was written to the log file
xiaonz@xiaonz-virtual-machine:~/catkin_ws/astra_ws$ rviz
[ INFO] [1681553689.829240587]: rviz version 1.13.29
[ INFO] [1681553689.829290050]: compiled against Qt version 5.9.5
[ INFO] [1681553689.829314125]: compiled against OGRE version 1.9.0 (Ghadamon)
xiaonz@xiaonz-virtual-machine:~/catkin_ws/astra_ws$ rviz
[ INFO] [1681553695.339279888]: rviz version 1.13.29
[ INFO] [1681553695.339363194]: compiled against Qt version 5.9.5
xiaonz@xiaonz-virtual-machine:~/catkin_ws/astra_ws$ roslaunch astra_camera astra.launch
... logging to /home/xiaonz/.ros/log/173db990-db78-11ed-abf0-000c29de8fa4/roslaunch-xiaonz-virtual-machine-7187.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://xiaonz-virtual-machine:37539/

SUMMARY
========

PARAMETERS
 * /camera/camera_nodelet_manager/num_worker_threads: 4
 * /camera/depth_rectify_depth/interpolation: 0
 * /camera/depth_registered_rectify_depth/interpolation: 0
 * /camera/driver/auto_exposure: True
 * /camera/driver/auto_white_balance: True
 * /camera/driver/bootorder: 0
 * /camera/driver/color_depth_synchronization: False
 * /camera/driver/depth_camera_info_url: 
 * /camera/driver/depth_frame_id: camera_depth_opti...
 * /camera/driver/depth_registration: True
 * /camera/driver/device_id: #1
 * /camera/driver/devnums: 1
 * /camera/driver/rgb_camera_info_url: 
 * /camera/driver/rgb_frame_id: camera_rgb_optica...
 * /rosdistro: melodic
 * /rosversion: 1.14.13

NODES
  /
    camera_base_link (tf2_ros/static_transform_publisher)
    camera_base_link1 (tf2_ros/static_transform_publisher)
    camera_base_link2 (tf2_ros/static_transform_publisher)
    camera_base_link3 (tf2_ros/static_transform_publisher)
  /camera/
    camera_nodelet_manager (nodelet/nodelet)
    depth_metric (nodelet/nodelet)
    depth_metric_rect (nodelet/nodelet)
    depth_points (nodelet/nodelet)
    depth_rectify_depth (nodelet/nodelet)
    depth_registered_hw_metric_rect (nodelet/nodelet)
    depth_registered_metric (nodelet/nodelet)
    depth_registered_rectify_depth (nodelet/nodelet)
    driver (nodelet/nodelet)
    points_xyzrgb_hw_registered (nodelet/nodelet)
    rgb_rectify_color (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [7197]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 173db990-db78-11ed-abf0-000c29de8fa4
process[rosout-1]: started with pid [7208]
started core service [/rosout]
process[camera/camera_nodelet_manager-2]: started with pid [7215]
process[camera/driver-3]: started with pid [7216]
process[camera/rgb_rectify_color-4]: started with pid [7217]
process[camera/depth_rectify_depth-5]: started with pid [7219]
process[camera/depth_metric_rect-6]: started with pid [7226]
[ INFO] [1681554435.538877365]: Initializing nodelet with 4 worker threads.
process[camera/depth_metric-7]: started with pid [7237]
process[camera/depth_points-8]: started with pid [7247]
[ INFO] [1681554435.567358423]: Device "2bc5/0403@1/8" found.
process[camera/depth_registered_rectify_depth-9]: started with pid [7250]
process[camera/points_xyzrgb_hw_registered-10]: started with pid [7259]
process[camera/depth_registered_hw_metric_rect-11]: started with pid [7263]
process[camera/depth_registered_metric-12]: started with pid [7275]
process[camera_base_link-13]: started with pid [7281]
Warning: USB events thread - failed to set priority. This might cause loss of data...
process[camera_base_link1-14]: started with pid [7282]
process[camera_base_link2-15]: started with pid [7287]
process[camera_base_link3-16]: started with pid [7302]
[ INFO] [1681554435.804469310]: device name: Orbbec Astra Pro
^C[camera_base_link3-16] killing on exit
[camera_base_link2-15] killing on exit
[camera_base_link1-14] killing on exit
[camera_base_link-13] killing on exit
[camera/depth_registered_metric-12] killing on exit
[camera/depth_registered_hw_metric_rect-11] killing on exit
[camera/points_xyzrgb_hw_registered-10] killing on exit
[camera/depth_registered_rectify_depth-9] killing on exit
[camera/depth_points-8] killing on exit
[camera/depth_metric-7] killing on exit
[camera/depth_metric_rect-6] killing on exit
[camera/rgb_rectify_color-4] killing on exit
[camera/depth_rectify_depth-5] killing on exit
[camera/driver-3] killing on exit
[camera/camera_nodelet_manager-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
xiaonz@xiaonz-virtual-machine:~/catkin_ws/astra_ws$

要坚持哦
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