3D相机在ROS下无法启动

[ INFO] [1681456340.246522059]: Initializing nodelet with 4 worker threads.      3207 INFO       New log started on 2023-04-14 02:12:21      3242 INFO       --- Filter Info --- Minimum Severity: VERBOSE      3316 VERBOSE    OpenNI 2.3.0 (Build 63)-Linux-Arm (May 13 2019 17:45:57)      3331 VERBOSE    Configuration file found at '/home/s/akman_ws/src/ros_astra_camera/include/openni2_redist/arm64/OpenNI.ini'      3450 VERBOSE    Using '/home/s/akman_ws/src/ros_astra_camera/include/openni2_redist/arm64/OpenNI2/Drivers' as driver path      3507 VERBOSE    Looking for drivers at '/home/s/akman_ws/src/ros_astra_camera/include/openni2_redist/arm64/OpenNI2/Drivers'      3703 VERBOSE    Loading device driver 'libOniFile.so'...      3730 WARNING    loading lib from: /home/s/akman_ws/src/ros_astra_camera/include/openni2_redist/arm64/OpenNI2/Drivers/libOniFile.so

     7435 VERBOSE    Loading device driver 'libPSLink.so'...      7492 WARNING    loading lib from: /home/s/akman_ws/src/ros_astra_camera/include/openni2_redist/arm64/OpenNI2/Drivers/libPSLink.so

    13170 WARNING    LibraryHandler: Couldn't find function oniDriverStreamConvertC2DCoordinates in libPSLink.so. Stopping     13231 WARNING    Couldn't use file 'libPSLink.so' as a device driver     13258 VERBOSE    Loading device driver 'liborbbec.so'...     13293 WARNING    loading lib from: /home/s/akman_ws/src/ros_astra_camera/include/openni2_redist/arm64/OpenNI2/Drivers/liborbbec.so

    20835 INFO       New log started on 2023-04-14 02:12:21     20871 INFO       --- Filter Info --- Minimum Severity: VERBOSE     20888 VERBOSE    Initializing USB...     26971 INFO       USB is initialized.     52377 VERBOSE    Initialize: Already initialized     53181 VERBOSE    Trying to open device by URI '(NULL)'     53217 ERROR      Can't open default device - none found [ INFO] [1681456341.412549750]: No matching device found.... waiting for devices. Reason: astra_wrapper::AstraDevice::AstraDevice(const string&) @ /home/s/akman_ws/src/ros_astra_camera/src/astra_device.cpp @ 79 : Device open failed     DeviceOpen using default: no devices found

  3054992 VERBOSE    Initialize: Already initialized   3055042 VERBOSE    Trying to open device by URI '(NULL)'   3055054 ERROR      Can't open default device - none found [ INFO] [1681456344.413287096]: No matching device found.... waiting for devices. Reason: astra_wrapper::AstraDevice::AstraDevice(const string&) @ /home/s/akman_ws/src/ros_astra_camera/src/astra_device.cpp @ 79 : Device open failed     DeviceOpen using default: no devices found

  6056585 VERBOSE    Initialize: Already initialized   6056634 VERBOSE    Trying to open device by URI '(NULL)'   6056644 ERROR      Can't open default device - none found [ INFO] [1681456347.414910845]: No matching device found.... waiting for devices. Reason: astra_wrapper::AstraDevice::AstraDevice(const string&) @ /home/s/akman_ws/src/ros_astra_camera/src/astra_device.cpp @ 79 : Device open failed     DeviceOpen using default: no devices found

  9057106 VERBOSE    Initialize: Already initialized   9057164 VERBOSE    Trying to open device by URI '(NULL)'   9057191 ERROR      Can't open default device - none found [ INFO] [1681456350.415426669]: No matching device found.... waiting for devices. Reason: astra_wrapper::AstraDevice::AstraDevice(const string&) @ /home/s/akman_ws/src/ros_astra_camera/src/astra_device.cpp @ 79 : Device open failed     DeviceOpen using default: no devices found

 12057676 VERBOSE    Initialize: Already initialized  12057725 VERBOSE    Trying to open device by URI '(NULL)'  12057735 ERROR      Can't open default device - none found [ INFO] [1681456353.415931102]: No matching device found.... waiting for devices. Reason: astra_wrapper::AstraDevice::AstraDevice(const string&) @ /home/s/akman_ws/src/ros_astra_camera/src/astra_device.cpp @ 79 : Device open failed     DeviceOpen using default: no devices found

 15058125 VERBOSE    Initialize: Already initialized  15058180 VERBOSE    Trying to open device by URI '(NULL)'  15058212 ERROR      Can't open default device - none found [ INFO] [1681456356.416418531]: No matching device found.... waiting for devices. Reason: astra_wrapper::AstraDevice::AstraDevice(const string&) @ /home/s/akman_ws/src/ros_astra_camera/src/astra_device.cpp @ 79 : Device open failed     DeviceOpen using default: no devices found

 18058613 VERBOSE    Initialize: Already initialized  18058668 VERBOSE    Trying to open device by URI '(NULL)'  18058700 ERROR      Can't open default device - none found [ INFO] [1681456359.416905872]: No matching device found.... waiting for devices. Reason: astra_wrapper::AstraDevice::AstraDevice(const string&) @ /home/s/akman_ws/src/ros_astra_camera/src/astra_device.cpp @ 79 : Device open failed     DeviceOpen using default: no devices found