nvidia agx xavier 跑azure kinect DK ros

驱动安装

Azure KinectをJetson Xavier NXで試す - Qiita https://qiita.com/ryota2425/items/d5a7feef9f36747b62bd
这个我试了没成功，参照下面两个编译
ubuntu16.04\18.04安装Azure Kinect SDK+配置ros版 超全详细踩坑记录.

Ubuntu18.04+Azure Kinect DK配置全过程（SDK源码+ROS.

运行bin、k4aviewer时报错

[2021-04-11 20:35:48.963] [error] [t=14520] ../src/dynlib/dynlib_linux.c (82): dynlib_create(). Failed to load shared object libdepthengine.so.2.0 with error: libdepthengine.so.2.0: cannot open shared object file: No such file or directory
[2021-04-11 20:35:48.964] [error] [t=14520] ../src/deloader/deloader.cpp (75): deloader_init_once(). Failed to Load Depth Engine Plugin (depthengine). Depth functionality will not work
[2021-04-11 20:35:48.964] [error] [t=14520] ../src/deloader/deloader.cpp (76): deloader_init_once(). Make sure the depth engine plugin is in your loaders path
[2021-04-11 20:35:48.964] [error] [t=14520] ../src/deloader/deloader.cpp (186): deloader_transform_engine_create_and_initialize(). Failed to load depth engine plugin
[2021-04-11 20:35:48.964] [error] [t=14520] ../src/tewrapper/tewrapper.c (61): transform_engine_start_helper(). Transform engine create and initialize failed with error code: 108.
[2021-04-11 20:35:48.964] [error] [t=14520] ../src/tewrapper/tewrapper.c (68): teresult == K4A_DEPTH_ENGINE_RESULT_SUCCEEDED returned failure in transform_engine_start_helper()
[2021-04-11 20:35:48.964] [error] [t=14520] ../src/tewrapper/tewrapper.c (86): transform_engine_start_helper(tewrapper) returned failure in transform_engine_thread()
[2021-04-11 20:35:48.965] [error] [t=14474] ../src/tewrapper/tewrapper.c (313): tewrapper_create(). Transform Engine thread failed to start
[2021-04-11 20:35:48.965] [error] [t=14474] ../src/transformation/transformation.c (637): transformation_context->tewrapper != NULL returned failure in transformation_create()

解决：libdepthengine.so.2.0放到 build/bin文件夹下

ROS报错

[2021-04-11 20:35:48.997] [error] [t=14521] ../src/deloader/deloader.cpp (113): deloader_depth_engine_create_and_initialize(). Failed to load depth engine plugin
[2021-04-11 20:35:48.997] [error] [t=14521] ../src/dewrapper/dewrapper.c (154): depth_engine_start_helper(). Depth engine create and initialize failed with error code: 108.
[2021-04-11 20:35:48.997] [error] [t=14521] ../src/dewrapper/dewrapper.c (160): deresult == K4A_DEPTH_ENGINE_RESULT_SUCCEEDED returned failure in depth_engine_start_helper()
[2021-04-11 20:35:48.997] [error] [t=14521] ../src/dewrapper/dewrapper.c (194): depth_engine_start_helper(dewrapper, dewrapper->fps, dewrapper->depth_mode, &depth_engine_max_compute_time_ms, &depth_engine_output_buffer_size) returned failure in depth_engine_thread()
[2021-04-11 20:35:48.997] [error] [t=14474] ../src/dewrapper/dewrapper.c (552): dewrapper_start(). Depth Engine thread failed to start
[2021-04-11 20:35:48.998] [error] [t=14474] ../src/depth/depth.c (398): dewrapper_start(depth->dewrapper, config, depth->calibration_memory, depth->calibration_memory_size) returned failure in depth_start()
[2021-04-11 20:35:49.001] [error] [t=14474] ../src/depth_mcu/depth_mcu.c (359): cmd_status == CMD_STATUS_PASS returned failure in depthmcu_depth_stop_streaming()
[2021-04-11 20:35:49.001] [error] [t=14474] ../src/depth_mcu/depth_mcu.c (362): depthmcu_depth_stop_streaming(). ERROR: cmd_status=0x00000063
[2021-04-11 20:35:49.005] [error] [t=14474] ../src/sdk/k4a.c (895): depth_start(device->depth, config) returned failure in k4a_device_start_cameras()
terminate called after throwing an instance of 'k4a::error'
  what():  Failed to start cameras!

解决：libdepthengine.so.2.0放到 devel/lib文件夹下
成功运行，rviz显示