安装依赖
确保
$ echo $ROS_DISTROmelodic
然后安装
sudo apt install ros-$ROS_DISTRO-rgbd-launch \ros-$ROS_DISTRO-libuvc \ros-$ROS_DISTRO-libuvc-camera \ros-$ROS_DISTRO-libuvc-ros
在某一目录下创建工作空间
mkdir -p astra_ros/srccd astra_roscatkin_makesource devel/setup.bash
在ROS工作空间下载源码
cd astra_ros/srcgit clone /orbbec/ros_astra_camera
执行脚本，添加相机设备rule
roscd astra_camera./scripts/create_udev_rules
编译astra_camera
cd astra_roscatkin_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/cmakesudo 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 -luvccollect2: error: ld returned 1 exit statusros_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' failedmake[2]: *** [/home/wxf/newdisk/ros/astra_ros/devel/lib/liblibuvc_camera_nodelet.so] Error 1CMakeFiles/Makefile2:531: recipe for target 'ros_astra_camera/CMakeFiles/libuvc_camera_nodelet.dir/all' failedmake[1]: *** [ros_astra_camera/CMakeFiles/libuvc_camera_nodelet.dir/all] Error 2make[1]: *** Waiting for unfinished jobs....[ 91%] Built target astra_test_wrapper/usr/bin/ld: cannot find -luvccollect2: error: ld returned 1 exit status[ 92%] Built target astra_list_devicesros_astra_camera/CMakeFiles/camera_node.dir/build.make:222: recipe for target '/home/wxf/newdisk/ros/astra_ros/devel/lib/astra_camera/camera_node' failedmake[2]: *** [/home/wxf/newdisk/ros/astra_ros/devel/lib/astra_camera/camera_node] Error 1CMakeFiles/Makefile2:569: recipe for target 'ros_astra_camera/CMakeFiles/camera_node.dir/all' failedmake[1]: *** [ros_astra_camera/CMakeFiles/camera_node.dir/all] Error 2[ 94%] Built target astra_driver_libMakefile:140: recipe for target 'all' failedmake: *** [all] Error 2Invoking "make -j8" failed
解决：
$ apt-cache search libuvc-devlibuvc-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
