查了网上好多资料都没有解决,最后在wiki上看到http://wiki.ros.org/libuvc_camera,后来直接使用uvc解决了,frame_rate要改30
但是直接启动rosrun uvc_camera uvc_camera_node会报错,因为里边的默认设置存在问题,可以自己写launch文件,
<launch>
<group ns="camera">
<node pkg="libuvc_camera" type="camera_node" name="mycam">
<!-- Parameters used to find the camera -->
<param name="vendor" value="0x2bc5"/>
<param name="product" value="0x0502"/>
<param name="serial" value="3"/>
<!-- If the above parameters aren't unique, choose the first match: -->
<param name="index" value="0"/>
<!-- Image size and type -->
<param name="width" value="1280"/>
<param name="height" value="720"/>
<!-- choose whichever uncompressed format the camera supports: -->
<param name="video_mode" value="mjpeg"/> <!-- or yuyv/nv12/mjpeg -->
<param name="frame_rate" value="30"/>
<param name="timestamp_method" value="start"/> <!-- start of frame -->
<param name="camera_info_url" value="file://$(find usb_cam)/example.yaml"/>
<param name="auto_white_balance" value="true"/>
</node>
</group>
<node pkg="image_view" type="image_view" name="image_view_test" output="screen">
<remap from="image" to="/camera/rgb/image_raw"/>
</node>
</launch>
这样就可以看淡rgb图像了,里边会增加节点image_raw,在roslaunch astra_launch astra.launch就可以在rqt_image_view看到深度图像和rgb图像了