humble运行奥比中光相机驱动问题

[3178261305]

humble中运行奥比中光dabai的相机驱动时,相机驱动为OrbbecSDK_ROS2_v1.4.2_202312081656_bc98252_release.zip,
第一个终端:
orangepi@orangepi5:~/astra_test_ws$ source install/setup.bash
orangepi@orangepi5:~/astra_test_ws$ ros2 launch orbbec_camera dabai.launch.py
[INFO] [launch]: All log files can be found below /home/orangepi/.ros/log/2024-01-21-15-35-22-664579-orangepi5-6654
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [6666]
[component_container-1] [INFO] [1705822523.027301734] [camera.camera_container]: Load Library: /home/orangepi/astra_test_ws/install/orbbec_camera/lib/liborbbec_camera.so
[component_container-1] [INFO] [1705822523.134086424] [camera.camera_container]: Found class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
[component_container-1] [INFO] [1705822523.134155256] [camera.camera_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
[component_container-1] [01/21 15:35:23.192289][error][6666][Logger.cpp:130] Error creating file sink for logger! Failed opening file Log//OrbbecSDK.log.txt for writing: Permission denied
[component_container-1] [01/21 15:35:23.192541][info][6666][Context.cpp:67] Context created with config: /home/orangepi/astra_test_ws/install/orbbec_camera/share/orbbec_camera/config/OrbbecSDKConfig_v1.0.xml
[component_container-1] [01/21 15:35:23.192560][info][6666][Context.cpp:72] Context work_dir=/home/orangepi/astra_test_ws
[component_container-1] [01/21 15:35:23.281923][warning][6666][OpenNIDeviceInfo.cpp:186] New openni device matched.
[component_container-1] [01/21 15:35:23.282022][info][6666][LinuxPal.cpp:112] Create PollingDeviceWatcher!
[component_container-1] [01/21 15:35:23.282047][info][6666][DeviceManager.cpp:15] Current found device(s): (1)
[component_container-1] [01/21 15:35:23.282050][info][6666][DeviceManager.cpp:24] - Name: DaBai, PID: 0x060e, SN/ID: , Connection: USB2.0
[component_container-1] [INFO] [1705822524.284434835] [camera.camera]: Connecting to the default device
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera/camera' in container '/camera/camera_container'
[component_container-1] [INFO] [1705822524.378412362] [camera.camera]: stream depth is enabled - width: 640, height: 400, fps: 30, Format: OB_FORMAT_Y11
[component_container-1] [INFO] [1705822524.379080559] [camera.camera]: stream ir is enabled - width: 640, height: 400, fps: 30, Format: OB_FORMAT_Y10
[component_container-1] [INFO] [1705822524.380082709] [camera.camera]: stream color is enabled - width: 640, height: 480, fps: 30, Format: OB_FORMAT_MJPG
[component_container-1] [INFO] [1705822524.467785132] [camera.camera]: Enable depth stream
[component_container-1] [INFO] [1705822524.467874381] [camera.camera]: Stream depth width: 640 height: 400 fps: 30 format: Y11
[component_container-1] [INFO] [1705822524.467910838] [camera.camera]: Enable ir stream
[component_container-1] [INFO] [1705822524.467939713] [camera.camera]: Stream ir width: 640 height: 400 fps: 30 format: Y10
[component_container-1] [INFO] [1705822524.467966546] [camera.camera]: Enable color stream
[component_container-1] [INFO] [1705822524.467993379] [camera.camera]: Stream color width: 640 height: 480 fps: 30 format: MJPG
[component_container-1] [INFO] [1705822525.022170536] [camera.camera]: Device DaBai connected
[component_container-1] [INFO] [1705822525.022371491] [camera.camera]: Serial number: AU1SB3301BP
[component_container-1] [INFO] [1705822525.022420199] [camera.camera]: Firmware version: RD2434
[component_container-1] [INFO] [1705822525.022474156] [camera.camera]: Hardware version:
[component_container-1] [INFO] [1705822525.022541530] [camera.camera]: device unique id: 7-1.4-4
[component_container-1] [INFO] [1705822525.340402184] [camera.camera]: transform x -30.099 y -0.206997 z 0
[component_container-1] [WARN] [1705822525.340875259] [camera.camera]: Publishing dynamic camera transforms (/tf) at 10 Hz
第二个个终端:
orangepi@orangepi5:~$ ros2 topic list
/camera/color/camera_info
/camera/color/image_raw
/camera/color/image_raw/compressed
/camera/color/image_raw/compressedDepth
/camera/color/image_raw/theora
/camera/depth/camera_info
/camera/depth/image_raw
/camera/depth/image_raw/compressed
/camera/depth/image_raw/compressedDepth
/camera/depth/image_raw/theora
/camera/depth/points
/camera/ir/camera_info
/camera/ir/image_raw
/camera/ir/image_raw/compressed
/camera/ir/image_raw/compressedDepth
/camera/ir/image_raw/theora
/parameter_events
/rosout
/tf
/tf_static
orangepi@orangepi5:~$ ros2 topic echo /camera/color/camera_info

时会卡住,并且第一个终端会出现报错
[component_container-1] [WARN] [1705822525.340875259] [camera.camera]: Publishing dynamic camera transforms (/tf) at 10 Hz
[ERROR] [component_container-1]: process has died [pid 6666, exit code -11, cmd '/opt/ros/humble/lib/rclcpp_components/component_container --ros-args -r __node:=camera_container -r __ns:=/camera'].
不知道是什么原因引起的?,求解决.