HI @ycx424,
Please ask debugging questions on http://answers.ros.org
I’ll note that the tutorial you’re following looks to be for the TurtleBot2 with the Kinect and thus would not be expected to work with the Astra for anything specific to the camera such as setting up video streaming.
And your compile issue looks like it warrants a separate question. Please provide enough information to reproduce your problem when you ask your question, otherwise we will just be guessing what your problem is.