ROS下使用乐视RGB-D深度相机/Orbbec Astra Pro显示图像和点云

最近调了一下很久之前买的乐视遗产系列——三合一体感相机（某宝100多块钱的RGB-D相机，实际也是奥比中光的 Astra Pro，学生党福利），赶紧记录一下，以防过两天忘了。

官方资料：
Github
官方SDK
ROS wiki

1. 正常安装

1.1 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

1.2 建立工作空间

mkdir -p ~/rgbd_ws/src
cd ~/rgbd_ws/
catkin_make
source devel/setup.bash

1.3 克隆代码

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

1.4 Create astra udev rule

roscd astra_camera
sudo sh ./scripts/create_udev_rules

1.5 编译源码包

cd ~/rgbd_ws
catkin_make --pkg astra_camera

1.6 修改astrapro.launch

首先查看相机接口：

lsusb

其中：

Bus 001 Device 019: ID 2bc5:0502 # RGB模块
Bus 001 Device 018: ID 2bc5:0403 # 深度模块

修改Astrapro.launch

cd  ~/cd rgbd_ws/src/ros_astra_camera/launch/
gedit astrapro.launch

将 0x0501 改为上面的 0x0502

1.7 启动

 source ~/rgbd_ws/devel/setup.bash
 roslaunch astra_camera astrapro.launch

打开新终端，启动rviz

rosrun rviz rviz

1.8 显示深度图和RGB图

Rviz中点击左下角Add

依次进行以下操作：Add -> By topic -> 选择对应的image即可

2. 使用点云数据

2.1 新建rviz文件

cd ~/rgbd_ws/src
mkdir rviz
cd rviz
touch depth_camera.rviz

2.2 编辑rviz文件

使用gedit编辑rviz文件

cd ~/rgbd_ws/src/rviz
sudo gedit depth_camera.rviz

填写代码如下

Panels:
  - Class: rviz/Displays
    Help Height: 88
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Status1
        - /Grid1
        - /PointCloud21
      Splitter Ratio: 0.5
    Tree Height: 453
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.588679016
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: PointCloud2
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz/Grid
      Color: 159; 147; 147
      Enabled: true
      Line Style:
        Line Width: 0.0299999993
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XZ
      Plane Cell Count: 10
      Reference Frame: camera_depth_optical_frame
      Value: true
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 8.875
        Min Value: 1.28500009
        Value: true
      Axis: X
      Channel Name: intensity
      Class: rviz/PointCloud2
      Color: 255; 255; 255
      Color Transformer: AxisColor
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 4096
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: PointCloud2
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.00999999978
      Style: Squares
      Topic: /camera/depth/points
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Default Light: true
    Fixed Frame: camera_depth_frame
    Frame Rate: 30
  Name: root
  Tools:
    - Class: rviz/Interact
      Hide Inactive Objects: true
    - Class: rviz/MoveCamera
    - Class: rviz/Select
    - Class: rviz/FocusCamera
    - Class: rviz/Measure
    - Class: rviz/SetInitialPose
      Topic: /initialpose
    - Class: rviz/SetGoal
      Topic: /move_base_simple/goal
    - Class: rviz/PublishPoint
      Single click: true
      Topic: /clicked_point
  Value: true
  Views:
    Current:
      Class: rviz/Orbit
      Distance: 7.51409006
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.0599999987
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 2.80641723
        Y: -0.0263374168
        Z: -0.295807391
      Focal Shape Fixed Size: true
      Focal Shape Size: 0.0500000007
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.00999999978
      Pitch: 0.305203468
      Target Frame: <Fixed Frame>
      Value: Orbit (rviz)
      Yaw: 3.89040422
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 744
  Hide Left Dock: false
  Hide Right Dock: true
  QMainWindow State: 000000ff00000000fd00000004000000000000016a0000025efc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073020000019b000001b500000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000025e000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006500000001a9000001430000000000000000000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002c4000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005150000003efc0100000002fb0000000800540069006d00650100000000000005150000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003a50000025e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 1301
  X: 65
  Y: 24

2.3 在rviz中显示点云

按照上节方法打开深度相机和rviz

左上角：File -> Open config，打开刚刚新建的rviz文件即可

2.4 显示彩色点云

彩色点云我没有去做，可以参考这个：乐视体感astra pro深度摄像头在ros系统获取 深度图像 彩色图像 无色彩点云数据 彩色点云数据

参考博文：
淘宝便宜的那个奥比中光摄像头（astra pro）在ubuntu16.04下Ros（kinectic）中使用说明
在rviz中使用Astra pro深度相机的点云数据