奥比中光Orbbec Astra Pro深度相机开机测试
- 测试环境:
- 系统: ubuntu20.04
- ros: noetic
- 安装摄像头软件包依赖
sudo apt install ros-$ROS_DISTRO-rgbd-launch ros-$ROS_DISTRO-libuvc ros-$ROS_DISTRO-libuvc-camera ros-$ROS_DISTRO-libuvc-ros
可能出现的问题:
20.04 中没有 ros-noetic-libuvc
ros-$ROS_DISTRO-libuvc ,目前测试没有发现问题
由于我ros库之前的是清华库,导致rgbd-launch无法安装,所以换成北京外国语大学的库
操作如下:
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.bfsu.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt update
- 创建ros工作空间
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make
source devel/setup.bash
- 下载摄像头驱动包代码
cd ~/catkin_ws/src
git clone https://github.com/orbbec/ros_astra_camera
- 创建usb设备名称与权限
roscd astra_camera
chmod 777 /scripts/create_udev_rules
./scripts/create_udev_rules
- 编译
cd ~/catkin_ws
catkin_make --pkg astra_camera
- 启动
roslaunch astra_camera astra.launch
- 显示
方法一: 采用rviz订阅话题显示
添加image ,选择相关话题即
显示结果
可能出现的问题:
[ERROR] [1645584052.704984796]: Rectified topic '/camera/rgb/image_rect_color' requested but camera publishing '/camera/rgb/camera_info' is uncalibrated
方法二:采用rqt_image_view
命令查看图像
enjoy!