ubuntu安装运行奥比中光摄像头astra

ubuntu安装运行奥比中光摄像头astra

0 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

安装libuvc

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

1 ROS-Astra-SDK 获取方式
本文用的是ubuntu kinetic版本

sudo apt-get install ros-kinetic-astra-camera
sudo apt-get install ros-kinetic-astra-launch

2 建立工作空间

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

3 克隆代码

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

4 编译

roscd astra_camera
chmod 777 /scripts/create_udev_rules
./scripts/create_udev_rules
（若无此文件可以将前面下载的ros_astra_camera中的/scripts/create_udev_rules复制到astra_camera中;若缺少56-orbbec-usb.rules文件也可将ros_astra_camera中的复制过去）
cd ~/rgbd_ws
catkin_make --pkg astra_camera

**5 ROS-Astra-SDK 基本结构 **

6 Astra 运行
要运行前面克隆的ros-kinetic-astra-launch文件中的launch文件

cd ~/rgbd_ws/src/ros_astra_launch/launch
roslaunch astrapro.launch

显示图像

rqt_image_view

7 rgb图像不显示

sudo apt-get install ros-kinetic-usb-cam
roslaunch usb_cam usb_cam-test.launch

也可将usb_cam-test.launch文件内容加入到astra.launch中

roslaunch astra.launch