mafei100 / ros_astra_camera

ROS wrapper for Astra camera

astra_camera

A ROS driver for Orbbec 3D cameras.

Install

This package supports ROS Kinetic, Melodic and Noetic distributions

1. Install ROS.

2. Install dependences

   sudo apt install ros-$ROS_DISTRO-rgbd-launch

   Important: 'ros_astra_camera' relies on the latest 'libuvc' as the old libuvc can get stuck when shutting down the stream

   # Uninstall the old libuvc
   sudo apt purge libuvc-dev
   sudo apt autoremove
   # Method 1: Pull from Github
   git clone https://github.com/libuvc/libuvc.git
   cd libuvc
   git checkout d3318ae
   mkdir build && cd build
   cmake .. && make -j4
   sudo make install 
   sudo ldconfig
   # Method 2: Use the compressed package in ros_astra_camera (see below) to install
   cd ~/catkin_ws/src/ros_astra_camera/dependencies
   unzip libuvc_master_d3318ae72.zip
   cd libuvc
   mkdir build && cd build
   cmake .. && make -j4
   sudo make install 
   sudo ldconfig
   

3. Create a ROS Workspace(if you don't have one)

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

   NOTE: If you are using Ubuntu 16.04 or lower, you may encounter compiling isuue with libuvc. Please goto ros_astra_camera/CMakeLists.txt and comment out LibUVC::UVCShared.

4. Pull the repository into your ROS workspace

   cd ~/catkin_ws/src
   # Method 1: Pull from Github
   # Install git lfs First, If you already installed, just ignore this step
   sudo apt-get install git-lfs
   git lfs install
   git clone https://github.com/orbbec/ros_astra_camera
   # Method 2: Download from (latest version) https://developer.orbbec.com.cn/download.html  -> SDK -> OpenNI2 SDK

5. Create astra udev rule

   roscd astra_camera
   ./scripts/create_udev_rules

6. Go to catkin workspace and compile astra_camera

   cd ~/catkin_ws
   catkin_make --pkg astra_camera

Run astra_camera

If you didn't add source $YOUR_WORKSPACE/devel/setup.bash to your .bashrc, remember to source it when open a new terminal :)

Examples

Use Astra

roslaunch astra_camera astra.launch

Use Astra Stereo S (w/ UVC)

roslaunch astra_camera stereo_s.launch

You can use rviz or image_view to verify the outputs.

Important Topics

• */image_raw: depth/rgb/ir raw images
  • If showing IR image is required, it would be more visible to normalize it from 16bit to 8bit (0 to 255)
• */image_rect_raw: images rectified by intrinsic/extrinsic parameters
• */camera_info: camera intrinsic/extrinsic parameters
• /camera/depth/points: point cloud without color information
• /camera/depth_registered/points: xyzrgb point cloud

Useful Services

This package provides multiple ros services for users to get useful information and set up devices. To know more about using these services, please check this tutorial.

• /camera/get_device_type: return a string containing astra device type
• /camera/get_ir_exposure: get exposure value of ir camera
• /camera/get_ir_gain: get gain value of ir camera
• /camera/get_serial: get serial number
• /camera/get_uvc_exposure: get exposure value of rgb camera
• /camera/get_uvc_gain: get gain value of rgb camera
• /camera/get_uvc_white_balance: get white balance value of rgb camera
• /camera/reset_ir_exposure: reset ir exposure to default value
• /camera/reset_ir_gain: reset ir gain to default value
• /camera/set_ir_exposure: set ir exposure to specific value
• /camera/set_ir_gain: set ir gain to specific value
• /camera/set_laser: turn on (true) or turn off (false) laser
• /camera/set_ldp: turn on (true) or turn off (false) ldp
• /camera/set_uvc_exposure: set uvc exposure. (set 0 indicating auto mode)
• /camera/set_uvc_gain: set uvc gain
• /camera/set_uvc_white_balance: set uvc white balance (set 0 indicating auto mode)
• /camera/set_ir_flood: turn on (true) or turn off (false) ir flood
• /camera/switch_ir_camera: while using stereo_s/stereo_s_u3, you can switch (left/right) ir camera

Examples

After launching an astra camera, you can get ir exposure by the following command

1. ir exposure

   rosservice call /camera/get_ir_exposure

   Next, you can change this value in this way

   rosservice call /camera/set_ir_exposure "{exposure: 50}" # Press tab to autocomplete

2. turn on/off laser

   rosservice call /camera/set_laser "{enable: true}" # turn on
   rosservice call /camera/set_laser "{enable: false}" # turn off

3. switch ir

   rosservice call /camera/switch_ir_camera "camera: 'left'" # left
   rosservice call /camera/switch_ir_camera "camera: 'right'" # right

For the other services, the usage is same as the above example.

Multiple Cameras

To launch multiple cameras, you could modify multi_astra.launch to match your setting. The important settings are device_x_id(serial number of your devices), 3d_sensor(name of launch file), and has_uvc_serial(does your camera's uvc have serial number).

If you received USB Buffer Error, you could try to increase your USBFS buffer size by the following command.

echo 64 > /sys/module/usbcore/parameters/usbfs_memory_mb # or maybe 128

License

Copyright 2019 Orbbec Ltd.

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this project except in compliance with the License. You may obtain a copy of the License at

http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Other names and brands may be claimed as the property of others