cd ~/catkin_ws
catkin_make
catkin_make install先参考的这个兄弟的办法虽然没解决但是提供了大方向感谢；
realsenseD400系列相机报错：undefined symbol: _ZN2cv3MatC1EiiiRKNS_7Scalar_IdEE解决方案
后解决办法参考
sudo apt install ros-noetic-ddynamic-reconfigure
No GPU usage on jetson xavier NX · Issue #2326 · IntelRealSense/realsense-ros · GitHub
OpenCV_DIR" to a directory containing one of the above files. If "OpenCV" provides a separate development package or SDK, be sure it has been installed. Call Stack (most recent call first): realsense-ros/realsense2_camera/CMakeLists.txt:13 (find_package)
Camilochiang Maybe I found a solution try adding/modifying to CMakeLists in realsense2_camera. Now im testing this solution but it looks promising. (even work with -DFORCE_RSUSB_BACKEND:=false):
1 find_package( OpenCV REQUIRED )
2 include_directories(
include
${realsense2_INCLUDE_DIR}
${catkin_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
)
3 target_link_libraries(${PROJECT_NAME}
${realsense2_LIBRARY}
${catkin_LIBRARIES}
${CMAKE_THREAD_LIBS_INIT}
${OpenCV_LIBRARIES}
)然后跳回catkin_make install再次安装，截至到目前，安装完成，测试一下:
roslaunch realsense2_camera rs_rgbd.launch