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orbbec / ros_astra_camera

ROS wrapper for Astra camera
Apache License 2.0
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Astra_Camera: Wait for device to connected #207

Open Saswati-Project opened 4 months ago

Saswati-Project commented 4 months ago

I setup the Astra Camera using the link official link. It give the message after launching the command roslaunch astra_camera astra.launch.

[INFO][1720553201.550103010]: Query device
[INFO][1720553202.009764172]: wait for device to connected.

I received these messages iteratively with different number.

The output of lsusb is

Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub Bus 001 Device 003: ID 04f2:b47f Chicony Electronics Co., Ltd Bus 001 Device 012: ID 2bc5:0401
Bus 001 Device 005: ID 0489:e04e Foxconn / Hon Hai Bus 001 Device 002: ID 05e3:0608 Genesys Logic, Inc. Hub Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

The output of lsusb -v for ID 2bc5:0401 is Bus 001 Device 012: ID 2bc5:0401
Device Descriptor: bLength 18 bDescriptorType 1 bcdUSB 2.00 bDeviceClass 0 (Defined at Interface level) bDeviceSubClass 0 bDeviceProtocol 0 bMaxPacketSize0 64 idVendor 0x2bc5 idProduct 0x0401 bcdDevice 0.01 iManufacturer 1 ORBBEC iProduct 2 ASTRA iSerial 0 bNumConfigurations 1 Configuration Descriptor: bLength 9 bDescriptorType 2 wTotalLength 145 bNumInterfaces 3 bConfigurationValue 1 iConfiguration 0 bmAttributes 0x80 (Bus Powered) MaxPower 500mA Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 0 bAlternateSetting 0 bNumEndpoints 2 bInterfaceClass 255 Vendor Specific Class bInterfaceSubClass 0 bInterfaceProtocol 0 iInterface 3 ORBBEC Depth Sensor Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x81 EP 1 IN bmAttributes 2 Transfer Type Bulk Synch Type None Usage Type Data wMaxPacketSize 0x0200 1x 512 bytes bInterval 1 Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x82 EP 2 IN bmAttributes 2 Transfer Type Bulk Synch Type None Usage Type Data wMaxPacketSize 0x0200 1x 512 bytes bInterval 1 Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 1 bAlternateSetting 0 bNumEndpoints 0 bInterfaceClass 1 Audio bInterfaceSubClass 1 Control Device bInterfaceProtocol 0 iInterface 4 ORBBEC Audio Device AudioControl Interface Descriptor: bLength 9 bDescriptorType 36 bDescriptorSubtype 1 (HEADER) bcdADC 1.00 wTotalLength 43 bInCollection 1 baInterfaceNr( 0) 2 AudioControl Interface Descriptor: bLength 12 bDescriptorType 36 bDescriptorSubtype 2 (INPUT_TERMINAL) bTerminalID 1 wTerminalType 0x0201 Microphone bAssocTerminal 0 bNrChannels 2 wChannelConfig 0x0003 Left Front (L) Right Front (R) iChannelNames 0 iTerminal 0 AudioControl Interface Descriptor: bLength 9 bDescriptorType 36 bDescriptorSubtype 3 (OUTPUT_TERMINAL) bTerminalID 2 wTerminalType 0x0101 USB Streaming bAssocTerminal 0 bSourceID 3 iTerminal 0 AudioControl Interface Descriptor: bLength 13 bDescriptorType 36 bDescriptorSubtype 6 (FEATURE_UNIT) bUnitID 3 bSourceID 1 bControlSize 2 bmaControls( 0) 0x03 bmaControls( 0) 0x00 Mute Control Volume Control bmaControls( 1) 0x03 bmaControls( 1) 0x00 Mute Control Volume Control bmaControls( 2) 0x03 bmaControls( 2) 0x00 Mute Control Volume Control iFeature 0 Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 2 bAlternateSetting 0 bNumEndpoints 0 bInterfaceClass 1 Audio bInterfaceSubClass 2 Streaming bInterfaceProtocol 0 iInterface 0 Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 2 bAlternateSetting 1 bNumEndpoints 1 bInterfaceClass 1 Audio bInterfaceSubClass 2 Streaming bInterfaceProtocol 0 iInterface 0 AudioStreaming Interface Descriptor: bLength 7 bDescriptorType 36 bDescriptorSubtype 1 (AS_GENERAL) bTerminalLink 2 bDelay 1 frames wFormatTag 1 PCM AudioStreaming Interface Descriptor: bLength 20 bDescriptorType 36 bDescriptorSubtype 2 (FORMAT_TYPE) bFormatType 1 (FORMAT_TYPE_I) bNrChannels 2 bSubframeSize 2 bBitResolution 16 bSamFreqType 4 Discrete tSamFreq[ 0] 8000 tSamFreq[ 1] 16000 tSamFreq[ 2] 32000 tSamFreq[ 3] 48000 Endpoint Descriptor: bLength 9 bDescriptorType 5 bEndpointAddress 0x83 EP 3 IN bmAttributes 13 Transfer Type Isochronous Synch Type Synchronous Usage Type Data wMaxPacketSize 0x00c0 1x 192 bytes bInterval 4 bRefresh 0 bSynchAddress 0 AudioControl Endpoint Descriptor: bLength 7 bDescriptorType 37 bDescriptorSubtype 1 (EP_GENERAL) bmAttributes 0x01 Sampling Frequency bLockDelayUnits 0 Undefined wLockDelay 0 Undefined Device Qualifier (for other device speed): bLength 10 bDescriptorType 6 bcdUSB 2.00 bDeviceClass 0 (Defined at Interface level) bDeviceSubClass 0 bDeviceProtocol 0 bMaxPacketSize0 64 bNumConfigurations 0 Device Status: 0x0000 (Bus Powered)

The launch file of the astra camera is astra_launch.txt

It would be very helpful if someone help me to figure out the problem.

Thank you.

Saswati-Project commented 4 months ago

Hi, I'm still experiencing the issue. Could the contributor of astra_camera please follow up on this question? @dandedrick @jian-dong @tfoote @mintar @saratrajput