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

3. Create a ROS Workspace(if you don't have one)

   mkdir -p ~/ros2_ws/src

4. Pull the repository into your ROS workspace

   cd ~/ros2_ws/src
   git clone https://github.com/KavenYau/ros2_astra_camera.git

5. 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

6. 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