【VMware Ubuntu ros noetic使用Astra S相机查看图像及点云数据】

Ubuntu20.04 noetic Astra S （摄像头包地址： https://gitee.com/zhangwanjie/ros_astra_camera.git）
参考博主：

ROS melodic+Astra s编译运行ros_astra_camera实录（踩坑没填完）
https://blog.csdn.net/qq_50220094/article/details/126186616

ROS下使用乐视RGB-D深度相机/Orbbec Astra Pro显示图像和点云
https://blog.csdn.net/Arcann/article/details/109495134?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522168156959416800217215143%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=168156959416800217215143&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~first_rank_ecpm_v1~rank_v31_ecpm-3-109495134-null-null.142^v83^insert_down38,239^v2^insert_chatgpt&utm_term=ros%20noetic%E8%8E%B7%E5%8F%96Astra%20S%E7%82%B9%E4%BA%91%E6%95%B0%E6%8D%AE&spm=1018.2226.3001.4187

一：创建工作空间

mkdir -p astracam_ws/src
cd astracam_ws/src
catkin_init_workspace
cd astracam_ws
catkin_make
source devel/setup.sh

二：安装依赖

sudo apt install ros-$ROS_DISTRO-rgbd-launch ros-$ROS_DISTRO-libuvc ros-$ROS_DISTRO-libuvc-camera ros-$ROS_DISTRO-libuvc-ros

这儿如果有问题一般是没有安装rgbd-launch、libuvc 、libuvc-camera、libuvc-ros功能包的原因，一般用安装命令基本都能安装，但是相对于libuvc的功能包，能安装上，但是编译的时候会找不到路径，如果出现

make[2]: *** [ros_astra_camera/CMakeFiles/camera_node.dir/build.make:150：/home/linder/astracam_ws/devel/lib/astra_camera/camera_node] 错误 1
Invoking “catkin_make -j4 -l4” failed

之类的错误，是因为CMakeLists文件中没找到libuvc包，进入ros_astra_camera功能包里面的CMakeLists.TXT文件进行添加，将

cmake_minimum_required(VERSION 2.8.3)
project(astra_camera)

find_package(catkin REQUIRED camera_info_manager dynamic_reconfigure image_transport nodelet sensor_msgs roscpp message_generation)

find_package(Boost REQUIRED COMPONENTS system thread)

find_package(libuvc REQUIRED)
#MACHINE = $(shell uname -m)
execute_process(COMMAND uname -m  OUTPUT_VARIABLE  MACHINES )
execute_process(COMMAND getconf LONG_BIT  OUTPUT_VARIABLE  MACHINES_BIT )

添加（首先确定你libuvc包的路径）

cmake_minimum_required(VERSION 2.8.3)
project(astra_camera)

find_package(catkin REQUIRED camera_info_manager dynamic_reconfigure image_transport nodelet sensor_msgs roscpp message_generation)

find_package(Boost REQUIRED COMPONENTS system thread)

find_package(libuvc REQUIRED)
#//edit by Linder
set(libuvc_INCLUDE_DIRS "/usr/local/include/libuvc")
set(libuvc_LIBRARIES "/usr/local/lib/libuvc.so")

#MACHINE = $(shell uname -m)
execute_process(COMMAND uname -m  OUTPUT_VARIABLE  MACHINES )
execute_process(COMMAND getconf LONG_BIT  OUTPUT_VARIABLE  MACHINES_BIT )

三：编译

依赖安装好了以后就可以进行编译，一般没问题了

四：创建 astra udev 规则

roscd astra_camera
./scripts/create_udev_rules

五：再次编译

catkin_make

六：启动launch

roscd astra_camera/launch

#因为我的相机型号是Astra s，所以就运行这一句
roslaunch astra_camera astra.launch

#型号是Astra Stereo S (w/ UVC)就用下面这句
roslaunch astra_camera stereo_s.launch

由于第一次没装rgbd-launch 包；运行出错
进行sudo apt-get install ros-melodic-rgbd-launch后运行结果如下
注意连接好摄像头

七：查看

启动rviz

rviz

八：添加点云

以下步骤是上面参考博主的

1 新建rviz文件

cd ~/astracam_ws/src
mkdir rviz
cd rviz
touch depth_camera.rviz

2 编辑rviz文件

cd ~/astracam_ws/src/rviz
sudo gedit depth_camera.rviz

填写代码如下

Panels:
  - Class: rviz/Displays
    Help Height: 88
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Status1
        - /Grid1
        - /PointCloud21
      Splitter Ratio: 0.5
    Tree Height: 453
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.588679016
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: PointCloud2
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz/Grid
      Color: 159; 147; 147
      Enabled: true
      Line Style:
        Line Width: 0.0299999993
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XZ
      Plane Cell Count: 10
      Reference Frame: camera_depth_optical_frame
      Value: true
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 8.875
        Min Value: 1.28500009
        Value: true
      Axis: X
      Channel Name: intensity
      Class: rviz/PointCloud2
      Color: 255; 255; 255
      Color Transformer: AxisColor
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 4096
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: PointCloud2
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.00999999978
      Style: Squares
      Topic: /camera/depth/points
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Default Light: true
    Fixed Frame: camera_depth_frame
    Frame Rate: 30
  Name: root
  Tools:
    - Class: rviz/Interact
      Hide Inactive Objects: true
    - Class: rviz/MoveCamera
    - Class: rviz/Select
    - Class: rviz/FocusCamera
    - Class: rviz/Measure
    - Class: rviz/SetInitialPose
      Topic: /initialpose
    - Class: rviz/SetGoal
      Topic: /move_base_simple/goal
    - Class: rviz/PublishPoint
      Single click: true
      Topic: /clicked_point
  Value: true
  Views:
    Current:
      Class: rviz/Orbit
      Distance: 7.51409006
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.0599999987
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 2.80641723
        Y: -0.0263374168
        Z: -0.295807391
      Focal Shape Fixed Size: true
      Focal Shape Size: 0.0500000007
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.00999999978
      Pitch: 0.305203468
      Target Frame: <Fixed Frame>
      Value: Orbit (rviz)
      Yaw: 3.89040422
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 744
  Hide Left Dock: false
  Hide Right Dock: true
  QMainWindow State: 000000ff00000000fd00000004000000000000016a0000025efc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073020000019b000001b500000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000025e000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006500000001a9000001430000000000000000000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002c4000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005150000003efc0100000002fb0000000800540069006d00650100000000000005150000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003a50000025e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 1301
  X: 65
  Y: 24

3 在rviz中显示点云

打开rviz

rviz

点击 file ——> open config