Repository Summary

Checkout URI https://github.com/kavenyau/ros2_astra_camera.git
VCS Type git
VCS Version main
Last Updated 2022-12-18
Dev Status UNMAINTAINED
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.

  1. Install ROS

  2. Install dependences

    sudo apt install ros-$ROS_DISTRO-image-pipeline libuvc-dev
    
  1. Create a ROS Workspace(if you don’t have one)
    mkdir -p ~/ros2_ws/src
    
  1. Pull the repository into your ROS workspace
    cd ~/ros2_ws/src
    git clone https://github.com/KavenYau/ros2_astra_camera.git
    
  1. 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
    
  1. 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.