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Repository Summary
| Description | ROS2 wrapper for Astra camera |
| Checkout URI | https://github.com/kavenyau/ros2_astra_camera.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2022-12-18 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| astra_msgs | 1.0.0 |
| ros2_astra_camera | 1.0.0 |
README
ros2_astra_camera
A ROS2 driver for Orbbec 3D cameras.
Only tested on Astra Pro
Install
This package tested on ROS2 Galactic.
-
Install ROS
-
Install dependences
sudo apt install ros-$ROS_DISTRO-image-pipeline libuvc-dev
- Create a ROS Workspace(if you don’t have one)
mkdir -p ~/ros2_ws/src
- Pull the repository into your ROS workspace
cd ~/ros2_ws/src
git clone https://github.com/KavenYau/ros2_astra_camera.git
- Create astra udev rule
cd ros2_astra_camera
sudo cp ./56-orbbec-usb.rules /etc/udev/rules.d/
sudo systemctl reload systemd-udevd
sudo systemctl restart systemd-udevd
- Compile
cd ../..
colcon build --symlink-install
Run
Disable color cloud(By default)
ros2 launch ros2_astra_camera astra_pro_launch.py
Enable color cloud
ros2 launch ros2_astra_camera astra_pro_launch.py enable_color_cloud:=True
Rviz2
ros2 launch ros2_astra_camera astra_rviz.py
Known Issues
-
Pointcloud messages are not published smoothly when running as component.
-
DeviceOpen using default: no devices found
No matching device found.... waiting for devices
setting LD_LIBRARY_PATH environment variable to the right path of libOpenNI2.so. e.g.
export LD_LIBRARY_PATH=~/ros2_ws/src/ros2_astra_camera/ros2_astra_camera/lib/openni2_redist/arm64:$LD_LIBRARY_PATH
References
https://github.com/orbbec/ros_astra_camera
CONTRIBUTING
No CONTRIBUTING.md found.
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