一.使用说明:
1.由于和astro版本不同,因此不能用OpenNI来显示
2.参考官网给的安装教程
https://github.com/orbbec/ros_astra_camera
二.操作步骤:
1.安装依赖项
$ sudo apt install ros-$ROS_DISTRO-rgbd-launch ros-$ROS_DISTRO-libuvc ros-$ROS_DISTRO-libuvc-camera ros-$ROS_DISTRO-libuvc-ros
2.建立工作空间
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make
source devel/setup.bash
3.Pull the repository into your ROS workspace
cd ~/catkin_ws/src
git clone https://github.com/orbbec/ros_astra_camera
4.Create astra udev rule
roscd astra_camera
./scripts/create_udev_rules
5.编译源码包
cd ~/catkin_ws
catkin_make --pkg astra_camera
三.更改astro pro 相机的usb接口
1.查看相机接口
lsusb
其中2bc5:0403是深度模块
2bc5:0502是RGB模块
2.修改astropro.launch启动项
cd ~/cd catkin_ws/src/ros_astra_camera/launch/
可以看到有astropro.launch
gedit astropro.launch
将68行中的0501改为刚才lsusb显示的0502保存
四.启动与显示
1.启动,一下都是ros系统上命令
source ~/catkin_ws/devel/setup.bash
roslaunch astra_camera astrapro.launch
2.显示
1)可以用image_view显示,可以参考上一篇博文命令
2)rviz显示
ctrl+alt +t 再打开一个终端窗口
输入:rviz
显示操作
Add->Image->按照图片选择需要的图片
参考博文:
https://blog.csdn.net/qq_36219010/article/details/100084777?from=singlemessage