ROS Melodic使用乐视奥比中光深度摄像头
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2022-06-05 13:08:22
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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
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,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***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: