ROS+basler相机安装和图像采集

1.参考文章

１．buntu16.4+ROS+basler相机安装和图像采集
https://blog.csdn.net/zhngyue123/article/details/105978578
２．多传感器融合02–Ubuntu16.04 Basler Camera 下驱动安装与测试以及使用camera_calibration进行相机的标定
https://blog.csdn.net/weixin_42469289/article/details/100566476?ops_request_misc=&request_id=&biz_id=102&utm_term=ubuntu16.4+ROS+basler%E7%9B%B8%E6%9C%BA%E5%AE%89%E8%A3%85%E5%92%8C%E5%9B%BE%E5%83%8F%E9%87%87%E9%9B%86&utm_medium=distribute.pc_search_result.none-task-blog-2_allsobaiduweb~default-0-100566476

2.自己遇到的问题

在执行强制添加依赖项出错：

rosdep install --from-paths . --ignore-src --rosdistro=$ROS_DISTRO -y

Error(s) in package '/home/jinglin/Ainstall/QT/5.13.0/Src/qtwebengine/src/3rdparty/chromium/third_party/protobuf/php/ext/google/protobuf/package.xml':
Error(s):
- The "package" tag must not have the following attributes: packagerversion, version
- The manifest of package "protobuf" (with format version 1) must not contain the following tags: extsrcrelease, lead, changelog, providesextension, notes, summary, stability, dependencies, contents, time, date, channel
- The "version" tag must not contain the following children: release, api
- The "license" tag must not have the following attributes: uri

解决办法：
没有在该目录终端执行

３.新的问题

~/catkin_ws/src$ rosdep install --from-paths . --ignore-src --rosdistro=$ROS_DISTRO -y

ERROR: Rosdep experienced an error: [Errno 13] Permission denied: '/home/jinglin/.ros/rosdep/sources.cache/index'
Please go to the rosdep page [1] and file a bug report with the stack trace below.
[1] : http://www.ros.org/wiki/rosdep

rosdep version: 0.19.0

Traceback (most recent call last):
  File "/usr/lib/python2.7/dist-packages/rosdep2/main.py", line 144, in rosdep_main
    exit_code = _rosdep_main(args)
  File "/usr/lib/python2.7/dist-packages/rosdep2/main.py", line 430, in _rosdep_main
    return _package_args_handler(command, parser, options, args)
  File "/usr/lib/python2.7/dist-packages/rosdep2/main.py", line 526, in _package_args_handler
    lookup = _get_default_RosdepLookup(options)
  File "/usr/lib/python2.7/dist-packages/rosdep2/main.py", line 134, in _get_default_RosdepLookup
    verbose=options.verbose)
  File "/usr/lib/python2.7/dist-packages/rosdep2/sources_list.py", line 594, in create_default
    sources = load_cached_sources_list(sources_cache_dir=sources_cache_dir, verbose=verbose)
  File "/usr/lib/python2.7/dist-packages/rosdep2/sources_list.py", line 552, in load_cached_sources_list
    with open(cache_index, 'r') as f:
IOError: [Errno 13] Permission denied: '/home/jinglin/.ros/rosdep/sources.cache/index'

解决办法
ｍｍｐ下载了ｐｙｌｏｎ6版本，要换成５的版本文件