奥比中光 Astra pro 深度相机在ROS Melodic的调试

一、安装OpenNI

从官网上下载相应系统和版本的SDK，我这里是Linux-ARM64版本的，下载的是OpenNI-Linux-Arm64-2.3.0.66。

二、配置

在解压后的目录中，执行 install.sh 文件

sudo sh install.sh

该脚本一共做了两件事，为摄像头设备增加UDEV规则，把开发环境写到 OpenNIDevEnvironment文件中。

cat OpenNIDevEnvironment
export OPENNI2_INCLUDE=/home/work/abc/OpenNI-Linux-Arm64-2.3.0.65/Include
export OPENNI2_REDIST=/home/work/abc/OpenNI-Linux-Arm64-2.3.0.65/Redist

注意第一个环境变量的Include，实际的目录名称为 include，记得改过来（要么把目录名称改成大写，要么把环境变量改成小写。）

然后再进行加载使其生效。

source OpenNIDevEnvironment

检查一下

env | grep OPENNI2_INCLUDE
OPENNI2_INCLUDE=/home/<$username>/wk_ws/OpenNI-Linux-Arm64-2.3.0.66/include

三、测试

OPENNI2_INCLUDE=/home/work/abc/OpenNI-Linux-Arm64-2.3.0.66/include

至此，我们就把OpenNI在Linux/Ubuntu16.04-Arm64上安装成功了。

四、安装ros包

安装依赖

cd ~/catkin_ws/src
git clone https://github.com/orbbec/ros_astra_camera

#5 Create astra udev rule

roscd astra_camera
./scripts/create_udev_rules

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

cd ~/catkin_ws
catkin_make --pkg astra_camera

cd ~/catkin_ws/src
git clone https://github.com/orbbec/ros_astra_launch


roslaunch astra_launch astra.launch


roslaunch astra_launch astrapro.launch

如报错

No matching device found… waiting for devices. Reason: astra_wrapper::AstraDevice::AstraDevice(const string&) @ /tmp/binarydeb/ros-kinetic-astra-camera-0.2.2/src/astra_device.cpp @ 76 : Device open failed
Could not open “2bc5/0401@3/5”: Failed to set USB interface!

原因是上面步骤的./scripts/create_udev_rules，会在 /etc/udev/rules.d/放一个规则文件56-orbbec-usb.rules

在 astra_camera 目录执行下面命令，就好了。

./scripts/create_udev_rules
sudo service udev reload
sudo service udev restart

完成。