Ubuntu 12.04 加载Bumblebee2相机 重启电脑后，无法识别设备的问题

自己在Ubuntu12.04  机器人ROS 中使用Bumblebee2 每次工控机从新启动 都找不到相机，只有工控机从新断电的情况下才可以找到相机，原因可能是找不到1394口！

解决办法：

方法1：ref：http://marhes.ece.unm.edu/index.php/TXT-1_Stereo_Camera

add following lines into file "/etc/rc.local"

# create the 1394 devices
mknod /dev/raw1394 c 171 0
chmod a+rw /dev/raw1394
mkdir /dev/video1394
mknod /dev/video1394/0 c 171 16
mknod /dev/video1394/1 c 171 17
mknod /dev/video1394/2 c 171 18
mknod /dev/video1394/3 c 171 19
chmod a+rw /dev/video1394/0
chmod a+rw /dev/video1394/1
chmod a+rw /dev/video1394/2
chmod a+rw /dev/video1394/3
# install the modules
modprobe raw1394
modprobe video1394

方法2：或者创建个脚本文件：Bumblebee2.script    放在etc  目录下： 内容加入如下：最后在  rc.local （etc/rc.local）中加上 sh /etc/Bumblebee2.script。

# create the 1394 devices
mknod /dev/raw 1394 c 171 0
chmod a+rw /dev/raw1394
mkdir /dev/video1394
mknod /dev/video1394/0 c 171 16
mknod /dev/video1394/1 c 171 17
mknod /dev/video1394/2 c 171 18
mknod /dev/video1394/3 c 171 19
chmod a+rw /dev/video1394/0
chmod a+rw /dev/video1394/1
chmod a+rw /dev/video1394/2
chmod a+rw /dev/video1394/3

# install the modules
modprobe raw1394
modprobe video1394

方法3：在终端sudo 执行上面的命令：

# create the 1394 devices

mknod /dev/raw 1394 c 171 0
chmod a+rw /dev/raw1394
mkdir /dev/video1394
mknod /dev/video1394/0 c 171 16
mknod /dev/video1394/1 c 171 17
mknod /dev/video1394/2 c 171 18
mknod /dev/video1394/3 c 171 19
chmod a+rw /dev/video1394/0
chmod a+rw /dev/video1394/1
chmod a+rw /dev/video1394/2
chmod a+rw /dev/video1394/3

# install the modules
modprobe raw1394
modprobe video1394