jetson ubuntu20.04 realsense-rosのcmakeエラーについて
このエラーについて、誰か助けてください。
jetsonでrealsenseをros2foxyで動かしたいです。ですが、rosラッパーをcmakeするとエラーが出ます。内容は次の通りです。
suzukiren@ubuntu:~/ros2_ws$ source /opt/ros/foxy/setup.bash
suzukiren@ubuntu:~/ros2_ws$ colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
Starting >>> realsense2_camera_msgs
Finished <<< realsense2_camera_msgs [0.87s]
Starting >>> realsense2_camera
Starting >>> realsense2_description
Finished <<< realsense2_description [0.23s]
[Processing: realsense2_camera]
--- stderr: realsense2_camera
In file included from /home/suzukiren/ros2_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:15:
/home/suzukiren/ros2_ws/src/realsense-ros/realsense2_camera/src/../include/base_realsense_node.h:193:14: error: ‘Quaternion’ in namespace ‘tf2’ does not name a type
193 | tf2::Quaternion rotationMatrixToQuaternion(const float rotation[9]) const;
| ^~~~~~~~~~
/home/suzukiren/ros2_ws/src/realsense-ros/realsense2_camera/src/../include/base_realsense_node.h:196:43: error: ‘Quaternion’ in namespace ‘tf2’ does not name a type
196 | const tf2::Quaternion& q,
| ^~~~~~~~~~
In file included from /home/suzukiren/ros2_ws/src/realsense-ros/realsense2_camera/src/parameters.cpp:15:
/home/suzukiren/ros2_ws/src/realsense-ros/realsense2_camera/src/../include/base_realsense_node.h:193:14: error: ‘Quaternion’ in namespace ‘tf2’ does not name a type
193 | tf2::Quaternion rotationMatrixToQuaternion(const float rotation[9]) const;
| ^~~~~~~~~~
/home/suzukiren/ros2_ws/src/realsense-ros/realsense2_camera/src/../include/base_realsense_node.h:196:43: error: ‘Quaternion’ in namespace ‘tf2’ does not name a type
196 | const tf2::Quaternion& q,
| ^~~~~~~~~~
In file included from /home/suzukiren/ros2_ws/src/realsense-ros/realsense2_camera/src/rs_node_setup.cpp:15:
/home/suzukiren/ros2_ws/src/realsense-ros/realsense2_camera/src/../include/base_realsense_node.h:193:14: error: ‘Quaternion’ in namespace ‘tf2’ does not name a type
193 | tf2::Quaternion rotationMatrixToQuaternion(const float rotation[9]) const;
| ^~~~~~~~~~
/home/suzukiren/ros2_ws/src/realsense-ros/realsense2_camera/src/../include/base_realsense_node.h:196:43: error: ‘Quaternion’ in namespace ‘tf2’ does not name a type
196 | const tf2::Quaternion& q,
| ^~~~~~~~~~
In file included from /home/suzukiren/ros2_ws/src/realsense-ros/realsense2_camera/src/../include/realsense_node_factory.h:19,
from /home/suzukiren/ros2_ws/src/realsense-ros/realsense2_camera/src/realsense_node_factory.cpp:15:
/home/suzukiren/ros2_ws/src/realsense-ros/realsense2_camera/src/../include/base_realsense_node.h:193:14: error: ‘Quaternion’ in namespace ‘tf2’ does not name a type
193 | tf2::Quaternion rotationMatrixToQuaternion(const float rotation[9]) const;
| ^~~~~~~~~~
/home/suzukiren/ros2_ws/src/realsense-ros/realsense2_camera/src/../include/base_realsense_node.h:196:43: error: ‘Quaternion’ in namespace ‘tf2’ does not name a type
196 | const tf2::Quaternion& q,
| ^~~~~~~~~~
make[2]: *** [CMakeFiles/realsense2_camera.dir/build.make:89: CMakeFiles/realsense2_camera.dir/src/parameters.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[2]: *** [CMakeFiles/realsense2_camera.dir/build.make:63: CMakeFiles/realsense2_camera.dir/src/realsense_node_factory.cpp.o] Error 1
make[2]: *** [CMakeFiles/realsense2_camera.dir/build.make:76: CMakeFiles/realsense2_camera.dir/src/base_realsense_node.cpp.o] Error 1
make[2]: *** [CMakeFiles/realsense2_camera.dir/build.make:102: CMakeFiles/realsense2_camera.dir/src/rs_node_setup.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:158: CMakeFiles/realsense2_camera.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
Failed <<< realsense2_camera [31.7s, exited with code 2]
Summary: 2 packages finished [33.2s]
1 package failed: realsense2_camera
1 package had stderr output: realsense2_camera
suzukiren@ubuntu:~/ros2_ws$
環境
Jetson Orin Nano
Ubuntu 20.04
ROS 2 Foxy
LibRealSense SDK v2.56.5
ROS ラッパー タグ v4.56.4
カメラファームウェア v5.17.0.9
realsense d435i
