[Project] Using LeTV depth camera LeTMC-520 under ROS

This article mainly records how to use LeEco depth camera under ros. LeTV's three-in-one sense camera LeTMC-520 is actually Orbbec Astra Pro

System: Ubuntu20.04

This camera uses uvc to input color information, and libuvc and libuvc_ros are required to use the color function on ROS normally.

1. Install libuvc

   Could not find a package configuration file provided by "libuvc" with any
  of the following names:

    libuvcConfig.cmake
    libuvc-config.cmake

  Add the installation prefix of "libuvc" to CMAKE_PREFIX_PATH or set
  "libuvc_DIR" to a directory containing one of the above files.  If "libuvc"
  provides a separate development package or SDK, be sure it has been
  installed.

git clone https://github.com/libuvc/libuvc
cd libuvc
mkdir build
cd build
cmake ..
make && sudo make install

2. Install dependencies 

sudo apt install ros-noetic-libuvc-camera
sudo apt install ros-noetic-libuvc-ros  
sudo apt install ros-noetic-rgbd-launch
sudo apt install ros-noetic-usb-cam

3. Compile and run

Download feature pack: Link: https://pan.baidu.com/s/1l56ksqCV9HFbfFc-Kj4vPQ Extraction code: 6sf1 

①Create a function space and compile:

mkdir -p astra_ws/src
# 将功能包放入src
cd astra_ws
catkin_make

②Install udev rules: (purpose: to rename the serial port number)

cd astra_ws/src/ros_astra_camera/scripts/
sudo chmod 777 create_udev_rules
sudo ./create_udev_rules

③Run:

roslaunch astra_camera astrapro.launch

Open rviz to view