ubuntu18.04 ROS配置AstraPro深度摄像头

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参考资料：《ROS by example 1》

1.下载驱动和安装依赖

sudo apt-get install build-essential freeglut3 freeglut3-dev

ldconfig -p | grep libudev.so.1

cd /lib/x86_64-linux-gnu

sudo ln -s libudev.so.x.x.x libudev.so.1 如果已经有了就忽略此步 现有的：libudev.so.1 -> libudev.so.1.6.9

2.编译驱动

解压下载的OpenNI-Linux-x64-2.3驱动OpenNI-Linux-x64-2.3.tar.bz2

$ cd OpenNI_2.3.0.55/Linux/OpenNI-Linux-x64-2.3.0.55

$ sudo chmod a+x install.sh

安装

$ sudo ./install.sh

插拔摄像头,source环境

$ source OpenNIDevEnvironment

编译

$ cd Samples/SimpleViewer

$ make

连接设备，执行示例

$ cd Bin/x64-Release

$ ./SimpleViewer

编译安装libuvc

先安装依赖和工具：

sudo apt install cmake

sudo apt-get install libusb-1.0

sudo apt-get install libjpeg9-dev

sudo apt-get install pkg-config

$ git clone https://github.com/ktossell/libuvc

$ cd libuvc

$ mkdir build

$ cd build

$ cmake ..

$ make && sudo make install

$ sudo cp /usr/include/libusb-1.0/libusb.h /usr/local/include/libuvc/

3.安装ROS和官方astra_launch astra_camera libuvc rgbd包

ubuntu安装ROS

先安装aptitude: sudo apt install aptitude

添加 sources.list

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

或sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'

添加 keys

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

或sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

sudo apt-get update

如果出现由于没有公钥，无法验证下列签名： NO_PUBKEY F42ED6FBAB17C654

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654

解决apt-get install E: 无法定位软件包问题，在软件和更新里的其他软件添加镜像源 deb http://archive.ubuntu.com/ubuntu/ trusty main universe restricted multiverse

然后 sudo apt-get update 接着安装就可以了

安装ubuntu18.04对应的ROS版本，依赖包会一起安装完成

sudo apt-get install ros-melodic-desktop-full

sudo apt-get install ros-melodic-rqt*

sudo rosdep init

如果不能下载就安装: sudo apt install python-rosdep 和 sudo apt-get install python3-rosdep

rosdep update

$ sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential

以下这些包melodic没有，需要从源码安装

$ sudo apt-get install ros-melodic-astra-camera

$ sudo apt-get install ros-melodic-astra-launch

$ sudo apt-get install ros-melodic-libuvc-*

$ sudo apt-get install ros-melodic-rgbd-launch

获取源码

打开工作空间的~/catkin_ws/src目录，执行git clone https://github.com/orbbec/ros_astra_launch.git和git clone https://github.com/orbbec/ros_astra_camera.git

catkin_make编译即可

ros的命令运行提示找不到的情况下 安装如下

sudo aptitude install python-roslaunch

加载环境设置文件

source /opt/ros/melodic/setup.bash

创建并初始化工作目录

mkdir -p ~/catkin_ws/src

cd ~/catkin_ws/src

catkin_init_workspace

cd ~/catkin_ws/

catkin_make

设置环境变量：

sudo apt install net-tools

gedit ~/.bashrc

#######################################

# Set ROS melodic

source /opt/ros/melodic/setup.bash

source ~/catkin_ws/devel/setup.bash

# Set ROS Network

export ROS_MASTER_URI=http://localhost:11311

export ROS_HOSTNAME=localhost

# Set ROS alias command 快捷指令

alias cw='cd ~/catkin_ws'

alias cs='cd ~/catkin_ws/src'

alias cm='cd ~/catkin_ws && catkin_make'

################################################

source ~/.bashrc

小海龟测试，打开三个终端：

roscore

rosrun turtlesim turtlesim_node

rosrun turtlesim turtle_teleop_key

4.插入相机查看设备向量ID

lsusb

Bus 003 Device 009: ID 2bc5:0502

Bus 003 Device 008: ID 2bc5:0403

其中2bc5:0403是深度模块

2bc5:0502是RGB模块

再看查看launch启动文件

启动文件是

~/catkin_ws/src/ros_astra_camera/launch/astrapro.launch

打开翻到第68行内容如下

这里的值是0x0501；而我的设备是0x0502,修改为0x0502

启动launch文件

source catkin_ws/devel/setup.bash

roslaunch ~/catkin_ws/src/ros_astra_camera/launch/astrapro.launch

打开新的终端用rviz或者rqt_image_view 预览RGB图和深度图

5.ubuntu for ROS安装PCL(似乎在安装ROS的时候已经安装了PCL，不需要重复安装，需要验证）

依赖项安装，新建一个脚本文件：touch install.sh，内容如下：

sudo apt-get update

sudo apt-get install git build-essential linux-libc-dev \

sudo apt-get install cmake cmake-gui \

sudo apt-get install libusb-1.0-0-dev libusb-dev libudev-dev \

sudo apt-get install mpi-default-dev openmpi-bin openmpi-common \

sudo apt-get install libflann1.8 libflann-dev \

sudo apt-get install libeigen3-dev \

sudo apt-get install libboost-all-dev \

sudo apt-get install libvtk5.10-qt4 libvtk5.10 libvtk5-dev \

sudo apt-get install libqhull* libgtest-dev \

sudo apt-get install freeglut3-dev pkg-config \

sudo apt-get install libxmu-dev libxi-dev \

sudo apt-get install mono-complete \

sudo apt-get install qt-sdk openjdk-8-jdk openjdk-8-jre

catkin_ws/src目录下克隆 git clone https://github.com/PointCloudLibrary/pcl.git

CMakeList.txt添加如下支持c++11

SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")

在pcl文件中建立并进入build目录

$ mkdir build && cd build

$ cmake -DCMAKE_BUILD_TYPE=None -DCMAKE_INSTALL_PREFIX=/usr/local -DBUILD_GPU=ON -DBUILD_apps=ON -DBUILD_examples=ON ..

$ make -j4

$ sudo make install

卸载pcl

sudo rm -r /usr/include/pcl-1.7 /usr/share/pcl /usr/bin/pcl* /usr/lib/libpcl*

sudo rm -r /usr/lib/x86_64-linux-gnu/cmake/pcl

sudo rm -r /usr/share/doc/libpcl*

sudo rm -r /usr/lib/x86_64-linux-gnu/pkgconfig/pcl*

sudo rm -r /usr/local/include/pcl-1.9 /usr/local/share/pcl* /usr/local/bin/pcl* /usr/local/lib/libpcl*

sudo rm -r /usr/local/lib/pkgconfig/pcl*

应用程序CmakeList.txt中添加：

find_package(PCL REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})

link_directories(${PCL_LIBRARY_DIRS})

add_definitions(${PCL_DEFINITIONS})

应用程序编译：

创建ROS程序包

cd catkin_ws/src

catkin_create_pkg imgpcl std_msgs rospy roscpp sensor_msgs image_transport pcl_conversions pcl_ros pcl_msgs

cd imgPcl

cd src//在此创建.cpp文件

source ./devel/setup.bash

catkin_make

运行

roscore

启动摄像头

source ./devel/setup.bash

roslaunch ~/catkin_ws/src/ros_astra_camera/launch/astrapro.launch

运行程序

source ./devel/setup.bash

rosrun imgpcl display_points input:=/camera/depth/points

预览图像

rosrun rviz rviz

数据格式转换：

pcl::PointCloud::Ptr cloud_Ptr(new pcl::PointCloud);

pcl::PointCloud cloud;

cloud=*cloud_Ptr;

cloud_Ptr=cloud.makeShared;

环境软件工具版本：

GCC v9

libc v2.30

~/catkin_ws/src/ros_astra_camera/launch/astrapro.launch

 

 

GDB debug

launch-prefix="xterm -e gdb -ex run --args"

astra pro相机标定

$ roslaunch astra_launch astrapro.launch

$ rosrun camera_calibration cameracalibrator.py image:=/camera/depth/image camera:=/camera/ir --size 8x6 --square 0.024

rosrun camera_calibration cameracalibrator.py image:=/camera/ir/image camera:=/camera/ir --size 8x6 --square 0.024

错误处理：

1. Could NOT find move_base_msgs (missing: move_base_msgs_DIR)

sudo apt install ros-melodic-move-base-msgs -y

2. *** 没有规则可制作目标“/usr/lib/x86_64-linux-gnu/libGL.so”

找到 libGL.so.1.0.0 文件的目录，在此目录下建立软链接 sudo ln -s libGL.so.1.0.0 libGL.so