老铁们，这个问题怎么解决？
ros@ubuntu:~/catkin_ws/src/robot_sim/experiment/depth_image_registration/src$ g++ ./depth_image_registration.cpp -o depth_image_registration $(pkg-config --cflags --libs opencv)
./depth_image_registration.cpp:4:28: fatal error: opencv2/core.hpp: No such file or directory
compilation terminated.
ros@ubuntu:~$ rosrun robot_sim GPD_method_grasp
……
……
[ INFO] [1654002341.837162732, 269.526000000]: Ready to take commands for planning group gripper.
[ INFO] [1654002345.275566903, 272.206000000]: Ready to take commands for planning group manipulator.
[ERROR] [1654002349.392291642, 275.204000000]: "world" passed to lookupTransform argument target_frame does not exist.
[ERROR] [1654002349.392369048, 275.204000000]: lookupTransform world to yixiuge_ee_link faild
world2tool -0.163850 0.673119 1.545503 -0.000019 0.000075 -0.000087 1.000000
segmentation done!
output points size 31944
publish finish!
有偿请教这个问题，大佬们帮帮忙
这个怎么解？还望大佬们指点迷津
catkin_make最后就出现了一下内容：
CMake Error at gpd/CMakeLists.txt:23 (message):
Library GPD not found
-- Configuring incomplete, errors occurred!
See also "/home/ros/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/ros/catkin_ws/build/CMakeFiles/CMakeError.log".
Makefile:318: recipe for target 'cmake_check_build_system' failed
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed
在终端运行launch文件后，提示无法获取pid，这个错误怎么改？（错误在代码最后）
ros1@ubuntu:~$ roslaunch ur_gazebo ur5.launch
... logging to /home/ros1/.ros/log/9464e26c-dc92-11ec-9691-000c2939b349/roslaunch-ubuntu-4950.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.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://ubuntu:42715/
SUMMARY
========
PARAMETERS
* /arm_controller/action_monitor_rate: 10
* /arm_controller/constraints/elbow_joint/goal: 0.1
* /arm_controller/constraints/elbow_joint/trajectory: 0.1
* /arm_controller/constraints/goal_time: 0.6
* /arm_controller/constraints/shoulder_lift_joint/goal: 0.1
* /arm_controller/constraints/shoulder_lift_joint/trajectory: 0.1
* /arm_controller/constraints/shoulder_pan_joint/goal: 0.1
* /arm_controller/constraints/shoulder_pan_joint/trajectory: 0.1
* /arm_controller/constraints/stopped_velocity_tolerance: 0.05
* /arm_controller/constraints/wrist_1_joint/goal: 0.1
* /arm_controller/constraints/wrist_1_joint/trajectory: 0.1
* /arm_controller/constraints/wrist_2_joint/goal: 0.1
* /arm_controller/constraints/wrist_2_joint/trajectory: 0.1
* /arm_controller/constraints/wrist_3_joint/goal: 0.1
* /arm_controller/constraints/wrist_3_joint/trajectory: 0.1
* /arm_controller/joints: ['shoulder_pan_jo...
* /arm_controller/state_publish_rate: 25
* /arm_controller/stop_trajectory_duration: 0.5
* /arm_controller/type: position_controll...
* /gazebo/enable_ros_network: True
* /joint_group_position_controller/joints: ['shoulder_pan_jo...
* /joint_group_position_controller/type: position_controll...
* /joint_state_controller/publish_rate: 50
* /joint_state_controller/type: joint_state_contr...
* /robot_description: <?xml version="1....
* /robot_state_publisher/publish_frequency: 50.0
* /robot_state_publisher/tf_prefix:
* /rosdistro: melodic
* /rosversion: 1.14.13
* /use_sim_time: True
NODES
/
arm_controller_spawner (controller_manager/controller_manager)
fake_joint_calibration (rostopic/rostopic)
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
joint_state_controller_spawner (controller_manager/controller_manager)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
ros_control_controller_manager (controller_manager/controller_manager)
spawn_gazebo_model (gazebo_ros/spawn_model)
auto-starting new master
process[master]: started with pid [4964]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 9464e26c-dc92-11ec-9691-000c2939b349
process[rosout-1]: started with pid [4975]
started core service [/rosout]
process[gazebo-2]: started with pid [4978]
process[gazebo_gui-3]: started with pid [4983]
process[spawn_gazebo_model-4]: started with pid [4988]
process[robot_state_publisher-5]: started with pid [4989]
process[fake_joint_calibration-6]: started with pid [4990]
process[joint_state_controller_spawner-7]: started with pid [4991]
process[arm_controller_spawner-8]: started with pid [4992]
process[ros_control_controller_manager-9]: started with pid [4993]
INFO: cannot create a symlink to latest log directory: [Errno 2] No such file or directory: '/home/ros1/.ros/log/latest'
INFO: cannot create a symlink to latest log directory: [Errno 2] No such file or directory: '/home/ros1/.ros/log/latest'
[ INFO] [1653528273.312356156]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1653528273.313913371]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1653528273.315547444]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1653528273.318966283]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[INFO] [1653528273.682005, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1653528273.687196, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1653528273.990580, 0.000000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1653528274.007385787]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[INFO] [1653528274.172253, 0.080000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1653528274.181652473, 0.080000000]: Physics dynamic reconfigure ready.
[spawn_gazebo_model-4] process has finished cleanly
log file: /home/ros1/.ros/log/9464e26c-dc92-11ec-9691-000c2939b349/spawn_gazebo_model-4*.log
[ INFO] [1653528274.338302231, 0.080000000]: Loading gazebo_ros_control plugin
[ INFO] [1653528274.338409893, 0.080000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1653528274.366716428, 0.080000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[ERROR] [1653528274.544997120, 0.080000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/shoulder_pan_joint
[ERROR] [1653528274.545650376, 0.080000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/shoulder_lift_joint
[ERROR] [1653528274.546259007, 0.080000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/elbow_joint
[ERROR] [1653528274.546905662, 0.080000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/wrist_1_joint
[ERROR] [1653528274.547510958, 0.080000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/wrist_2_joint
[ERROR] [1653528274.548099060, 0.080000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/wrist_3_joint
小鱼老师，我都装完了 还是不行 还是原来的错误
ros1@ubuntu:~/catkin_ws$ apt search freenect
正在排序... 完成
全文搜索... 完成
freenect/bionic,now 1:0.5.3-1build1 amd64 [已安装]
library for accessing Kinect device -- metapackage
libfreenect-bin/bionic,now 1:0.5.3-1build1 amd64 [已安装]
library for accessing Kinect device -- utilities and samples
libfreenect-demos/bionic,now 1:0.5.3-1build1 amd64 [已安装]
library for accessing Kinect device -- dummy package
libfreenect-dev/bionic,now 1:0.5.3-1build1 amd64 [已安装，自动]
library for accessing Kinect device -- development files
libfreenect-doc/bionic,bionic,now 1:0.5.3-1build1 all [已安装]
library for accessing Kinect device -- documentation
libfreenect0.5/bionic,now 1:0.5.3-1build1 amd64 [已安装，自动]
library for accessing Kinect device
python-freenect/bionic,now 1:0.5.3-1build1 amd64 [已安装]
library for accessing Kinect device -- Python bindings
ros-melodic-freenect-camera/bionic,now 0.4.3-2bionic.20220222.185939 amd64 [已安装]
A libfreenect-based ROS driver for the Microsoft Kinect.
ros-melodic-freenect-camera-dbgsym/bionic,now 0.4.3-2bionic.20220222.185939 amd64 [已安装]
debug symbols for ros-melodic-freenect-camera
ros-melodic-freenect-launch/bionic,now 0.4.3-2bionic.20220222.194350 amd64 [已安装]
Launch files for freenect_camera to produce rectified, registered or disparity images.
ros-melodic-freenect-stack/bionic,now 0.4.3-2bionic.20220222.194441 amd64 [已安装]
A libfreenect-based ROS driver for the Microsoft Kinect
ros-melodic-openni2-camera/bionic,now 1.6.0-2bionic.20220412.145923 amd64 [已安装]
Drivers for the Asus Xtion and Primesense Devices.
CMake Error at iai_kinect2/kinect2_bridge/CMakeLists.txt:22 (find_package):
Could not find a package configuration file provided by "freenect2" with
any of the following names:
freenect2Config.cmake
freenect2-config.cmake
Add the installation prefix of "freenect2" to CMAKE_PREFIX_PATH or set
"freenect2_DIR" to a directory containing one of the above files. If
"freenect2" provides a separate development package or SDK, be sure it has
been installed.
-- Configuring incomplete, errors occurred!
See also "/home/ros1/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/ros1/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed
编译之后出现这个问题，问问大佬们怎么解决？