我使用的是noetic和Astra
在终端1运行astra.launch后在终端2运行rostopic echo /camera/ir/image_raw

终端1显示


... logging to /home/thy/.ros/log/af4c2ac2-07a6-11ef-9f83-09dafca65488/roslaunch-thyc-75723.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://thyc:46543/

SUMMARY

PARAMETERS

/camera/camera/camera_name: camera
/camera/camera/color_depth_synchronization: False
/camera/camera/color_format: RGB
/camera/camera/color_fps: 30
/camera/camera/color_height: 480
/camera/camera/color_info_uri:
/camera/camera/color_width: 640
/camera/camera/connection_delay: 100
/camera/camera/depth_align: False
/camera/camera/depth_format: Y11
/camera/camera/depth_fps: 30
/camera/camera/depth_height: 480
/camera/camera/depth_scale: 1
/camera/camera/depth_width: 640
/camera/camera/device_num: 1
/camera/camera/enable_color: True
/camera/camera/enable_d2c_viewer: False
/camera/camera/enable_depth: True
/camera/camera/enable_ir: True
/camera/camera/enable_point_cloud: True
/camera/camera/enable_point_cloud_xyzrgb: False
/camera/camera/enable_publish_extrinsic: False
/camera/camera/flip_color: False
/camera/camera/flip_depth: False
/camera/camera/flip_ir: False
/camera/camera/ir_format: Y10
/camera/camera/ir_fps: 30
/camera/camera/ir_height: 480
/camera/camera/ir_info_uri:
/camera/camera/ir_width: 640
/camera/camera/oni_log_level: verbose
/camera/camera/oni_log_to_console: False
/camera/camera/oni_log_to_file: False
/camera/camera/product_id:
/camera/camera/publish_tf: True
/camera/camera/serial_number:
/camera/camera/soft_filter: 2
/camera/camera/soft_filter_max_diff: 16
/camera/camera/soft_filter_max_speckle_size: 480
/camera/camera/tf_publish_rate: 10.0
/camera/camera/vendor_id: 0x2bc5
/rosdistro: noetic
/rosversion: 1.16.0

NODES /camera/ camera (astra_camera/astra_camera_node)

auto-starting new master process[master]: started with pid [75731] ROS_MASTER_URI=http://localhost:11311

setting /run_id to af4c2ac2-07a6-11ef-9f83-09dafca65488 process[rosout-1]: started with pid [75741] started core service [/rosout] process[camera/camera-2]: started with pid [75749] [ INFO] [1714559796.293863986]: Starting camera node... [ INFO] [1714559796.299676876]: Creating camera node...

[ INFO] [1714559796.300286813]: Initializing OBCameraNodeFactory... [ INFO] [1714559796.306828856]: init Done [ INFO] [1714559796.306849442]: Query device [ INFO] [1714559796.306869765]: Creating camera node done... [ INFO] [1714559796.306882069]: Found 1 devices [ INFO] [1714559796.407078216]: Device connected: (name, Astra) (uri, 2bc5/0401@3/6) (vendor, Orbbec) [ INFO] [1714559796.407101824]: Trying to open device: 2bc5/0401@3/6 [ INFO] [1714559796.507223507]: OBCameraNodeFactory::onDeviceConnected Open device start [ INFO] [1714559796.550708762]: OBCameraNodeFactory::onDeviceConnected Open device done, STATUS 0 [ INFO] [1714559796.550732752]: Device connected: Astra serial number: 19010420285 [ INFO] [1714559796.550744520]: Start device [ WARN] [1714559796.574782774]: Infrared and Color streams are enabled. Infrared stream will be disabled. [ INFO] [1714559796.574819731]: set depth video mode Resolution :640x480@30Hz format PIXEL_FORMAT_DEPTH_1_MM [ INFO] [1714559796.575013838]: set color video mode Resolution :640x480@30Hz format PIXEL_FORMAT_RGB888 [ WARN] [1714559796.575958487]: No color sensor found or transition is invalid , setting translation to 0 [ WARN] [1714559796.576048219]: Publishing dynamic camera transforms (/tf) at 10 Hz [ INFO] [1714559796.588097174]: using default calibration URL [ INFO] [1714559796.588127725]: camera calibration URL: file:///home/thy/.ros/camera_info/ir_camera.yaml [ INFO] [1714559796.588167601]: Unable to open camera calibration file [/home/thy/.ros/camera_info/ir_camera.yaml] [ WARN] [1714559796.588182569]: Camera calibration file /home/thy/.ros/camera_info/ir_camera.yaml not found. [ INFO] [1714559796.588209446]: using default calibration URL [ INFO] [1714559796.588220735]: camera calibration URL: file:///home/thy/.ros/camera_info/rgb_camera.yaml [ INFO] [1714559796.588491743]: OBCameraNode initialized [ INFO] [1714559796.588503765]: Start device done [ INFO] [1714559799.674602291]: Image stream ir subscribed [ WARN] [1714559799.674644123]: Stream ir is not enabled.


- 终端2无输出
- 我在launch中已经将**enable_ir**设置成了true，为什么还是会显示**Stream ir is not enabled.**

orbbec / ros_astra_camera

Stream ir is not enabled. #201

SUMMARY