1,goto catkin workshop dir and compiler astra_camera $ catkin_make --pkg astra_camera

note: astra driver provide two work method, normal and filter. with filter driver, get better quality depth data but need high-performance platform , like pc. if you work in the ARM, suggest to use normal method. you can use -DFILTER=ON / OFF to change the method.

$ catkin_make --pkg astra_camera -DFILTER=OFF

2,create astra udev rule $ roscd astra_camera && ./scripts/create_udev_rules

3,run astra_camera use astra $ roslaunch astra_launch astra.launch use astra pro (uvc rgb ) $ roslaunch astra_launch astrapro.launch

4,you can use rviz or image_view to verify driver