杂记4--森云相机UVC驱动编译过程一些问题解决记录

Posted 2023-03-02 鸿_H

背景：相机方案采用森云的，所以需要测一下他们驱动如何

官方驱动链接：https://github.com/toNeptune9/Uvc_camera

1） fatal error: libv4l2.h: No such file or directory

解决方式：

sudo apt-get install libv4l-dev

2）报错：

/Uvc_camera-master/src/nodelets.cpp:53:24: error: expected constructor, destructor, or type conversion before ‘(’ token
   53 | PLUGINLIB_DECLARE_CLASS(uvc_camera, StereoNodelet, uvc_camera::StereoNodelet, nodelet::Nodelet);

解决方式：

在uvc_camera的源码中/uvc_camera/src/nodelets.cpp 中找到

PLUGINLIB_DECLARE_CLASS(uvc_camera, CameraNodelet, uvc_camera::CameraNodelet, nodelet::Nodelet);
PLUGINLIB_DECLARE_CLASS(uvc_camera, StereoNodelet, uvc_camera::StereoNodelet, nodelet::Nodelet)

把这两行改成：

PLUGINLIB_EXPORT_CLASS(uvc_camera::CameraNodelet , nodelet::Nodelet);
PLUGINLIB_EXPORT_CLASS(uvc_camera::StereoNodelet , nodelet::Nodelet);

参考：https://blog.csdn.net/ABC_ORANGE/article/details/111572446

启动：

rosrun uvc_camera uvc_camera_node

话题会正常发布：

/camera_info
/image_raw
/image_raw/compressed
/image_raw/compressedDepth
/image_raw/compressedDepth/parameter_descriptions
/image_raw/compressedDepth/parameter_updates
/image_raw/compressed/parameter_descriptions
/image_raw/compressed/parameter_updates
/image_raw/theora
/image_raw/theora/parameter_descriptions
/image_raw/theora/parameter_updates

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