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Fix arm64 DEB package build

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This commit is contained in:
xiexun
2025-09-02 09:22:48 +08:00
parent 1e3edfa54a
commit f2bbbe7f3d
3 changed files with 23 additions and 5 deletions
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README.MD
+8 -2
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@@ -209,7 +209,7 @@ Install deb dependencies
```bash
# assume you have sourced ROS environment, same blow
sudo apt install libgflags-dev nlohmann-json3-dev \
sudo apt install libgflags-dev nlohmann-json3-dev libgoogle-glog-dev libgoogle-glog0v5 \
ros-$ROS_DISTRO-image-transport ros-${ROS_DISTRO}-image-transport-plugins ros-${ROS_DISTRO}-compressed-image-transport \
ros-$ROS_DISTRO-image-publisher ros-$ROS_DISTRO-camera-info-manager \
ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs ros-$ROS_DISTRO-statistics-msgs \
@@ -362,33 +362,39 @@ ros2 launch orbbec_camera gemini_330_series.launch.py enable_color:=true color_w
```
* **[color|depth|left_ir|right_ir|ir]_width,[color|depth|left_ir|right_ir|ir]_height,[color|depth|left_ir|right_ir|ir]_fps,[color|depth|left_ir|right_ir|ir]_format**
* The resolution and frame rate of the sensor stream
* Run `ros2 run orbbec_camera list_camera_profile_mode_node` to get the list of supported profiles
* For example:`color_width:=640 color_height:=480 color_fps:=30 color_format:=MJPG depth_width:=640 depth_height:=480 depth_fps:=30 depth_format:=Y16 ir_width:=640 ir_height:=480 ir_fps:=30 ir_format:=Y8`
* **enable_color_auto_exposure_priority**
* Enable the Color auto exposure priority
* For example:`enable_color_auto_exposure_priority:=true`
* **enable_color_auto_exposure**
* Enable the Color auto exposure
* For example:`enable_color_auto_exposure:=true`
* **color_exposure**
* Set the Color exposure
* For example:`color_exposure:=30`
* Note:To ensure that the `color_exposure` setting takes effect, make sure to set `enable_color_auto_exposure:=false`.
* **color_gain**
* Set the Color gain
* For example:`color_gain:=16`
* Note:To ensure that the `color_gain` setting takes effect, make sure to set `enable_color_auto_exposure:=false`.
* **enable_depth_auto_exposure_priority**
* Enable the Depth auto exposure priority
* For example:`enable_depth_auto_exposure_priority:=true`
* **mean_intensity_set_point**
- Set the target mean intensity of the Depth image
- For example: `mean_intensity_set_point:=100`
> **Note:** This replaces the deprecated `depth_brightness`, which is still supported for backward compatibility.
>
[......](./docs/launch_parameters.md)
README_CN.MD
+1 -1
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@@ -199,7 +199,7 @@ git checkout v2-main
```bash
# assume you have sourced ROS environment, same blow
sudo apt install libgflags-dev nlohmann-json3-dev \
sudo apt install libgflags-dev nlohmann-json3-dev libgoogle-glog-dev libgoogle-glog0v5 \
ros-$ROS_DISTRO-image-transport ros-${ROS_DISTRO}-image-transport-plugins ros-${ROS_DISTRO}-compressed-image-transport \
ros-$ROS_DISTRO-image-publisher ros-$ROS_DISTRO-camera-info-manager \
ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs ros-$ROS_DISTRO-statistics-msgs \
orbbec_camera/.make_deb.sh
+14 -2
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@@ -5,5 +5,17 @@ rm -fr debian obj-x86_64-linux-gnu .obj-aarch64-linux-gnu || true
export DEBIAN_INC=1
export BUILDING_PACKAGE=1
bloom-generate rosdebian --os-name ubuntu --ros-distro $ROS_DISTRO -i ${DEBIAN_INC}.$(date +%Y%m%d.%H%M%S)
export DEB_BUILD_OPTIONS="parallel=$(($(nproc) - 1))"
fakeroot debian/rules binary
sed -i 's/dh $@/dh $@ --parallel/g' debian/rules
sed -i '/^override_dh_shlibdeps:/,/^$/d' debian/rules
cat >> debian/rules << 'EOF'
override_dh_shlibdeps:
dh_shlibdeps --dpkg-shlibdeps-params=--ignore-missing-info
EOF
PARALLEL=$(nproc)
if [ "$PARALLEL" -gt 3 ]; then PARALLEL=3; fi
export DEB_BUILD_OPTIONS="parallel=$PARALLEL"
fakeroot debian/rules binary