**

问题一：

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cmake配置的libtorch报错:

Failed to compute shorthash for libnvrtc.so

参考：https://blog.csdn.net/xzq1207105685/article/details/117400187的方法已经解决。
在CMakeList.txt开头添加

find_package(PythonInterp REQUIRED)

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问题二：

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terminate called after throwing an instance of 'rs2::invalid_value_error'
  what():  API version mismatch: librealsense.so was compiled with API version 2.49.0 but the application was compiled with 2.50.0! Make sure correct version of the library is installed (make install)
已放弃 (核心已转储)

原因是我之前已经安装了realsense SDK 2.4.8，忘记了，我又安装了realsense SDK 2.5.0，所以会提示这个问题。

参考：https://blog.csdn.net/m0_43436602/article/details/111039353
可以在根目录下搜索librealsense2.so，应该除了/opt/ros/kinetic/lib有、/usr/lib/中也有。

解决方法：

删除之前安装不成功遗留的别的版本的librealsense，使用下列命令：

sudo apt-get remove ros-kinetic-librealsense2
或
cd librealsense/build
sudo make uninstall && make clean