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I too had problems with raspicam_node on Pi4. So I fall back to trying to install similar to:

‘https://github.com/fpasteau/raspicam_node‘,

and

‘https://github.com/raspberrypi/userland‘

I then did the following step-by-step commands:

cd src/
git clone https://github.com/6by9/userland.git
cd userland/
git checkout 64bit_mmal
./buildme –aarch64
ls /opt/vc/bin/

raspivid
/opt/vc/bin/raspivid
find . -name libmmal_core.so

This now runs:

LD_PRELOAD=”/opt/vc/lib/libmmal_vc_client.so /opt/vc/lib/libvcsm.so /opt/vc/lib/libmmal_core.so /opt/vc/lib/libmmal_util.so” /opt/vc/bin/raspistill -o cam.jpg

Which is a step closer. After fixing the runtime errors, it works.

Enable ROS raspicam_node

To enable rapicam_node, do the following steps:

cd catkin_ws/src/
git clone https://github.com/fpasteau/raspicam_node.git raspicam
cd ..
catkin_make
source devel/setup.bash
export LD_PRELOAD=”/opt/vc/lib/libmmal_vc_client.so /opt/vc/lib/libvcsm.so /opt/vc/lib/libmmal_core.so /opt/vc/lib/libmmal_util.so”

rosrun raspicam raspicam_node _height:=1280 _width:=960

In another terminal:

rosservice call /camera/start_capture

There are more details here: https://rhoeby.com/blog/adding-ros-raspberry-pi-4b-camera/