1）安装usb摄像头 ROS包：

sudo apt install ros-humble-usb-cam

2）安装二维码识别库

sudo apt install libzbar-dev

3）安装opencv cv::Mat和sensor_msgs转换库

sudo apt install ros-humble-cv-bridge

4）安装pydantic库

pip3 install pydantic==1.10.7

注意版本1.10.7，否则报错：
pydantic.errors.PydanticUserError: If you use @root_validator with pre=False (the default) you MUST specify skip_on_failure=True. Note that @root_validator is deprecated and should be replaced with @model_validator.