乐视奥比中光摄像头+ROS

一、下载

1.驱动下载
链接：https://pan.baidu.com/s/1P9OYdXISNylkSph0zq0l6A 提取码：fi2r

2.ros包下载

cd {catkin project}/src
git clone https://github.com/orbbec/ros_astra_camera.git

二、安装

1.安装依赖

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

2.检查libudev.so.1

#check udev version, Orbbec Driver need libudev.so.1, if can't find it, can make symbolic link from libudev.so.x.x,
#which usually locate in /lib/aarch64-linux-gnu
$ ldconfig -p | grep libudev.so.1
$ cd /lib/aarch64-linux-gnu
$ sudo ln -s libudev.so.x.x.x libudev.so.1

3.安装驱动

unzip OpenNI-Linux-Arm64-2.3.zip
cd OpenNI-Linux-Arm64-2.3
sudo chmod a+x install.sh
sudo ./install.sh
source OpenNIDevEnvironment

三、编译

1.修改、ros_astra_camera/launch/astrapro.launch的错误，否则显示不了rgb，将product改为0502

<node pkg="astra_camera" type="camera_node" name="$(arg camera)_rgb">
      <!-- Parameters used to find the camera -->
      <param name="vendor" value="0x2bc5"/>
      <param name="product" value="0x0502"/>

2.创建USB规则

cd {catkin project}/src/ros_astra_camera/scripts/
./create_udev_rules
reboot

3.编译

catkin_make

四、启动

特别注意：一定使用一根粗的高速USB线，否则rgb总是莫名其妙的死掉！！！！！
1.启动摄像头

roslaunch astra_camera astrapro.launch

2.启动image和点云2