ROS Melodic使用乐视奥比中光深度摄像头

一，安装依赖

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

sudo apt-get install ros-melodic-openni*

二，安装ros包

kinetic版本可以直接使用apt安装：

sudo apt-get install ros-$ROS_DISTRO-astra-camera ros-$ROS_DISTRO-astra-launch  

melodic版本只能编译：
下载如下两个仓库文件，放到src下执行catkin_make

git clone https://github.com/orbbec/ros_astra_launch.git
git clone https://github.com/orbbec/ros_astra_camera.git

编译成功后，执行：

roslaunch astra_launch astra.launch

就可以在rviz订阅image话题查看：

三，添加udev规则

sudo nano /etc/udev/rules.d/56-orbbec.rules

写入以下内容：

SUBSYSTEM=="usb", ATTR{idProduct}=="0400", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"
SUBSYSTEM=="usb", ATTR{idProduct}=="0401", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"
SUBSYSTEM=="usb", ATTR{idProduct}=="0402", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"
SUBSYSTEM=="usb", ATTR{idProduct}=="0403", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"
SUBSYSTEM=="usb", ATTR{idProduct}=="0404", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"
SUBSYSTEM=="usb", ATTR{idProduct}=="0405", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"
SUBSYSTEM=="usb", ATTR{idProduct}=="0406", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"
SUBSYSTEM=="usb", ATTR{idProduct}=="0407", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"
SUBSYSTEM=="usb", ATTR{idProduct}=="0408", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"
SUBSYSTEM=="usb", ATTR{idProduct}=="0409", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"
SUBSYSTEM=="usb", ATTR{idProduct}=="040a", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"

三，解决只有深度图像没有普通图像

安装uvc-camera包：

sudo apt-get install ros-melodic-uvc-camera

更改：ros_astra_launch/launch/astra.launch
添加如下（注意把/dev/video0替换为自己的设备号）

<node pkg="uvc_camera" type="uvc_camera_node" name="uvc_camera" output="screen"/>
<param name="width" type="int" value="320" />
<param name="height" type="int" value="240" />
<param name="fps" type="int" value="30" />
<param name="frame" type="string" value="wide_stereo" />

<param name="auto_focus" type="bool" value="False" />
<param name="focus_absolute" type="int" value="0" />
<!-- other supported params: auto_exposure, exposure_absolute, brightness, power_line_frequency -->

<param name="device" type="string" value="/dev/video0" /> 
<param name="camera_info_url" type="string" value="file://$(find uvc_camera)/example.yaml" />

执行：

roslaunch astra_launch astra.launch

出现彩色图像：