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astra_camera package from ros_astra_camera repo

astra_camera

Package Summary

Tags No category tags.
Version 2.1.1
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros2/ros_astra_camera.git
VCS Type git
VCS Version bouncy
Last Updated 2018-06-29
Dev Status DEVELOPED
Released RELEASED

Package Description

Drivers for Orbbec Astra Devices.

Additional Links

No additional links.

Maintainers

  • Chris Lalancette

Authors

  • Tim Liu
1,goto catkin workshop dir and compiler astra_camera
$ catkin_make --pkg astra_camera

note: astra driver provide two work method, normal and
 filter. with filter driver, get better quality depth 
data but need high-performance platform , like pc.
 if you work in the ARM, suggest to use normal method. 
 you can use -DFILTER=ON / OFF to change the method.

$ catkin_make --pkg astra_camera -DFILTER=OFF

2,create astra udev rule
$ roscd astra_camera && ./scripts/create_udev_rules

3,run astra_camera
use astra 
$ roslaunch astra_launch astra.launch
use astra pro (uvc rgb )
$ roslaunch astra_launch astrapro.launch

4,you can use rviz or image_view to verify driver




CHANGELOG

Changelog for package astra_camera

0.1.5 (2016-05-27)

  • add dependency on generated messages to avoid race condition at build time
  • switching to libusb-1.0
  • Contributors: Tully Foote

0.1.4 (2016-05-27)

  • add libusb-dev as a build dependency
  • Contributors: Tully Foote

0.1.3 (2016-05-26)

  • Adding build dependency on libudev-dev
  • Contributors: Tully Foote

0.1.2 (2016-05-26)

  • add git as a dependency
  • Contributors: Tully Foote

0.1.1 (2016-05-26)

  • removing dependency which was internalilzed
  • Contributors: Tully Foote

0.1.0 (2016-05-26)

  • Initial release of ROS driver for Astra camera
  • Contributors: Ernesto Corbellini, Len Zhong, Tim, Tully Foote, ob-tim-liu

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Plugins

No plugins found.

Recent questions tagged astra_camera at answers.ros.org

No version for distro melodic. Known supported distros are highlighted in the buttons above.

astra_camera package from astra_camera repo

astra_camera

Package Summary

Tags No category tags.
Version 0.3.0
License Apache License 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/orbbec/ros_astra_camera.git
VCS Type git
VCS Version master
Last Updated 2019-10-17
Dev Status DEVELOPED
Released RELEASED

Package Description

Drivers for Orbbec Astra Devices.

Additional Links

No additional links.

Maintainers

  • Sayter99

Authors

  • Tim Liu

astra_camera

A ROS driver for Orbbec 3D cameras.

Install

This package supports ROS Kinetic and Melodic.

  1. Install ROS.

  2. Install dependences

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

  1. Create a ROS Workspace(if you don't have one)
    mkdir -p ~/catkin_ws/src
    cd ~/catkin_ws/
    catkin_make

  1. Pull the repository into your ROS workspace
    cd ~/catkin_ws/src
    git clone https://github.com/orbbec/ros_astra_camera

  1. Create astra udev rule
    roscd astra_camera
    ./scripts/create_udev_rules

  1. Go to catkin workspace and compile astra_camera
    cd ~/catkin_ws
    catkin_make --pkg astra_camera

Filter Enable (To be deprecated: recommend to try master branch at first)

Astra driver provides normal and filtering methods. With filter driver, we can get more precise depth data but it would cost more computing resources. If the program will be executed on embedded systems, we suggest to use normal method. You can use -DFILTER=ON / OFF to change the method as below.

catkin_make --pkg astra_camera -DFILTER=OFF

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

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

  1. 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

CHANGELOG

Changelog for package astra_camera

0.3.0 (2019-08-08) ------------* Add UVC support * Add OPENNI2 include files under include folder * Add more video modes * Add useful services to control cameras * Support Stereo S, Embedded S, and Stereo S U3 * Merge astra_launch package * 56-orbbec-usb.rules now includes uvc support * CMakeLists.txt changes accordingly * Update README * Contributors: Chi-Ju Wu, Nan Xu, dandedrick, coxep

0.2.2 (2018-03-22) -----------* Add launchfile info and reformat nicely * Publish projector/camera_info (fixes disparity img) * modify gcc optimizate problem * Contributors: Chan Jun Shern, Martin G

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/multi_astra.launch
      • camera [default: camera]
      • publish_tf [default: true]
      • 3d_sensor [default: stereo_s_u3]
      • device_1_prefix [default: 01]
      • device_2_prefix [default: 02]
      • device_1_id [default: AY053930173]
      • device_2_id [default: AY053930032]
      • has_uvc_serial [default: true]
      • depth_registration [default: false]
      • rgb_processing [default: false]
      • ir_processing [default: false]
      • depth_processing [default: true]
      • depth_registered_processing [default: false]
      • disparity_processing [default: false]
      • disparity_registered_processing [default: false]
      • num_worker_threads [default: 4]
  • launch/astra_rgb.launch
  • launch/astrapro.launch
    • Entry point for using OpenNI2 devices
      • camera [default: camera]
      • rgb_frame_id [default: $(arg camera)_rgb_optical_frame]
      • depth_frame_id [default: $(arg camera)_depth_optical_frame]
      • device_id [default: #1]
      • bootorder [default: 0]
      • devnums [default: 1]
      • rgb_camera_info_url [default: ]
      • depth_camera_info_url [default: ]
      • depth_registration [default: true]
      • color_depth_synchronization [default: false]
      • auto_exposure [default: true]
      • auto_white_balance [default: true]
      • rgb [default: rgb]
      • ir [default: ir]
      • depth [default: depth]
      • load_driver [default: true]
      • publish_tf [default: true]
      • rgb_processing [default: true]
      • debayer_processing [default: false]
      • ir_processing [default: false]
      • depth_processing [default: true]
      • depth_registered_processing [default: true]
      • disparity_processing [default: false]
      • disparity_registered_processing [default: false]
      • hw_registered_processing [default: true]
      • sw_registered_processing [default: false]
      • hw_registered_processing [default: false]
      • sw_registered_processing [default: true]
      • respawn [default: false]
      • num_worker_threads [default: 4]
      • index [default: 0]
      • debug [default: false]
  • launch/stereo_s.launch
      • camera [default: camera]
      • rgb_frame_id [default: $(arg camera)_rgb_optical_frame]
      • depth_frame_id [default: $(arg camera)_depth_optical_frame]
      • device_id [default: #1]
      • bootorder [default: 0]
      • devnums [default: 1]
      • rgb_camera_info_url [default: ]
      • depth_camera_info_url [default: ]
      • depth_registration [default: true]
      • color_depth_synchronization [default: false]
      • auto_exposure [default: true]
      • auto_white_balance [default: true]
      • rgb [default: rgb]
      • ir [default: ir]
      • depth [default: depth]
      • load_driver [default: true]
      • publish_tf [default: true]
      • rgb_processing [default: true]
      • debayer_processing [default: false]
      • ir_processing [default: false]
      • depth_processing [default: true]
      • depth_registered_processing [default: true]
      • disparity_processing [default: false]
      • disparity_registered_processing [default: false]
      • hw_registered_processing [default: true]
      • sw_registered_processing [default: false]
      • hw_registered_processing [default: false]
      • sw_registered_processing [default: true]
      • respawn [default: false]
      • index [default: 0]
      • num_worker_threads [default: 4]
      • debug [default: false]
  • launch/embedded_s.launch
      • camera [default: camera]
      • rgb_frame_id [default: $(arg camera)_rgb_optical_frame]
      • depth_frame_id [default: $(arg camera)_depth_optical_frame]
      • device_id [default: #1]
      • bootorder [default: 0]
      • devnums [default: 1]
      • rgb_camera_info_url [default: ]
      • depth_camera_info_url [default: ]
      • depth_registration [default: true]
      • color_depth_synchronization [default: false]
      • auto_exposure [default: true]
      • auto_white_balance [default: true]
      • rgb [default: rgb]
      • ir [default: ir]
      • depth [default: depth]
      • load_driver [default: true]
      • publish_tf [default: true]
      • rgb_processing [default: true]
      • debayer_processing [default: false]
      • ir_processing [default: false]
      • depth_processing [default: true]
      • depth_registered_processing [default: true]
      • disparity_processing [default: false]
      • disparity_registered_processing [default: false]
      • hw_registered_processing [default: true]
      • sw_registered_processing [default: false]
      • hw_registered_processing [default: false]
      • sw_registered_processing [default: true]
      • respawn [default: false]
      • index [default: 0]
      • num_worker_threads [default: 4]
      • debug [default: false]
  • launch/astraprosm.launch
  • launch/astra.launch
    • Entry point for using OpenNI2 devices
      • camera [default: camera]
      • rgb_frame_id [default: $(arg camera)_rgb_optical_frame]
      • depth_frame_id [default: $(arg camera)_depth_optical_frame]
      • device_id [default: #1]
      • bootorder [default: 0]
      • devnums [default: 1]
      • rgb_camera_info_url [default: ]
      • depth_camera_info_url [default: ]
      • depth_registration [default: false]
      • color_depth_synchronization [default: false]
      • auto_exposure [default: true]
      • auto_white_balance [default: true]
      • rgb [default: rgb]
      • ir [default: ir]
      • depth [default: depth]
      • load_driver [default: true]
      • publish_tf [default: true]
      • rgb_processing [default: true]
      • debayer_processing [default: false]
      • ir_processing [default: false]
      • depth_processing [default: true]
      • depth_registered_processing [default: true]
      • disparity_processing [default: false]
      • disparity_registered_processing [default: false]
      • hw_registered_processing [default: true]
      • sw_registered_processing [default: false]
      • hw_registered_processing [default: false]
      • sw_registered_processing [default: true]
      • respawn [default: false]
      • num_worker_threads [default: 4]
      • debug [default: false]
  • launch/includes/manager.launch
      • manager [default: ]
      • debug [default: ]
  • launch/includes/color.launch
    • Load processing nodelets for the Color camera
      • manager [default: ]
      • respawn [default: ]
      • rgb [default: ]
  • launch/includes/ir.launch
      • manager [default: ]
      • respawn [default: ]
      • ir [default: ]
  • launch/includes/device.launch
      • manager
      • device_id
      • rgb_frame_id
      • depth_frame_id
      • rgb_camera_info_url
      • depth_camera_info_url
      • depth_registration [default: true]
      • color_depth_synchronization [default: false]
      • auto_exposure [default: true]
      • auto_white_balance [default: true]
      • respawn [default: false]
      • rgb [default: rgb]
      • ir [default: ir]
      • depth [default: depth]
  • launch/includes/depth.launch
    • Load processing nodelets for the depth camera
      • manager [default: ]
      • points_xyz [default: ]
      • rectify [default: ]
      • respawn [default: ]
      • depth [default: ]
  • launch/includes/astra_frames.launch
    • Default frames for Astra/Astra s devices Places depth and RGB cameras in the same plane with 2.5cm baseline. Calibration may improve results, but these defaults are reasonably accurate.
      • camera [default: camera]
      • tf_prefix [default: ]
  • launch/includes/pointclouds.launch
    • Load processing nodelets for the Color camera
      • manager [default: ]
      • points_xyz [default: ]
      • rectify [default: ]
      • respawn [default: ]
      • depth [default: ]
  • launch/includes/processing.launch
      • manager [default: ]
      • respawn [default: ]
      • rgb [default: ]
      • ir [default: ]
      • depth [default: ]
  • launch/stereo_s_u3.launch
      • camera [default: camera]
      • rgb_frame_id [default: $(arg camera)_rgb_optical_frame]
      • depth_frame_id [default: $(arg camera)_depth_optical_frame]
      • device_id [default: #1]
      • bootorder [default: 0]
      • devnums [default: 1]
      • uvc_serial [default: 0]
      • rgb_camera_info_url [default: ]
      • depth_camera_info_url [default: ]
      • depth_registration [default: true]
      • color_depth_synchronization [default: false]
      • auto_exposure [default: true]
      • auto_white_balance [default: true]
      • rgb [default: rgb]
      • ir [default: ir]
      • depth [default: depth]
      • load_driver [default: true]
      • publish_tf [default: true]
      • rgb_processing [default: true]
      • debayer_processing [default: false]
      • ir_processing [default: false]
      • depth_processing [default: true]
      • depth_registered_processing [default: true]
      • disparity_processing [default: false]
      • disparity_registered_processing [default: false]
      • hw_registered_processing [default: true]
      • sw_registered_processing [default: false]
      • hw_registered_processing [default: false]
      • sw_registered_processing [default: true]
      • respawn [default: false]
      • num_worker_threads [default: 4]
      • debug [default: false]
  • launch/astra_tf_prefix.launch
    • Entry point for using OpenNI2 devices (if you still use tf_prefix)
      • camera [default: camera]
      • tf_prefix [default: ]
      • rgb_frame_id [default: $(arg tf_prefix)/$(arg camera)_rgb_optical_frame]
      • depth_frame_id [default: $(arg tf_prefix)/$(arg camera)_depth_optical_frame]
      • device_id [default: #1]
      • bootorder [default: 0]
      • devnums [default: 1]
      • rgb_camera_info_url [default: ]
      • depth_camera_info_url [default: ]
      • depth_registration [default: false]
      • color_depth_synchronization [default: false]
      • auto_exposure [default: true]
      • auto_white_balance [default: true]
      • rgb [default: rgb]
      • ir [default: ir]
      • depth [default: depth]
      • load_driver [default: true]
      • publish_tf [default: true]
      • rgb_processing [default: true]
      • debayer_processing [default: false]
      • ir_processing [default: false]
      • depth_processing [default: true]
      • depth_registered_processing [default: true]
      • disparity_processing [default: false]
      • disparity_registered_processing [default: false]
      • hw_registered_processing [default: true]
      • sw_registered_processing [default: false]
      • hw_registered_processing [default: false]
      • sw_registered_processing [default: true]
      • respawn [default: false]
      • num_worker_threads [default: 4]
      • debug [default: false]
  • launch/includes/device.launch.xml
    • Launch the OpenNI2 device driver
      • manager
      • device_id
      • bootorder
      • devnums
      • rgb_frame_id
      • depth_frame_id
      • rgb_camera_info_url
      • depth_camera_info_url
      • depth_registration [default: true]
      • color_depth_synchronization [default: false]
      • auto_exposure [default: true]
      • auto_white_balance [default: true]
      • respawn [default: false]
      • rgb [default: rgb]
      • ir [default: ir]
      • depth [default: depth]
      • depth_registered [default: depth_registered]

Messages

No message files found.

Plugins

Recent questions tagged astra_camera at answers.ros.org

astra_camera package from ros_astra_camera repo

astra_camera

Package Summary

Tags No category tags.
Version 2.0.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros2/ros_astra_camera.git
VCS Type git
VCS Version ardent
Last Updated 2017-12-09
Dev Status DEVELOPED
Released RELEASED

Package Description

Drivers for Orbbec Astra Devices.

Additional Links

No additional links.

Maintainers

  • Chris Lalancette

Authors

  • Tim Liu
1,goto catkin workshop dir and compiler astra_camera
$ catkin_make --pkg astra_camera

note: astra driver provide two work method, normal and
 filter. with filter driver, get better quality depth 
data but need high-performance platform , like pc.
 if you work in the ARM, suggest to use normal method. 
 you can use -DFILTER=ON / OFF to change the method.

$ catkin_make --pkg astra_camera -DFILTER=OFF

2,create astra udev rule
$ roscd astra_camera && ./scripts/create_udev_rules

3,run astra_camera
use astra 
$ roslaunch astra_launch astra.launch
use astra pro (uvc rgb )
$ roslaunch astra_launch astrapro.launch

4,you can use rviz or image_view to verify driver




CHANGELOG

Changelog for package astra_camera

0.1.5 (2016-05-27)

  • add dependency on generated messages to avoid race condition at build time
  • switching to libusb-1.0
  • Contributors: Tully Foote

0.1.4 (2016-05-27)

  • add libusb-dev as a build dependency
  • Contributors: Tully Foote

0.1.3 (2016-05-26)

  • Adding build dependency on libudev-dev
  • Contributors: Tully Foote

0.1.2 (2016-05-26)

  • add git as a dependency
  • Contributors: Tully Foote

0.1.1 (2016-05-26)

  • removing dependency which was internalilzed
  • Contributors: Tully Foote

0.1.0 (2016-05-26)

  • Initial release of ROS driver for Astra camera
  • Contributors: Ernesto Corbellini, Len Zhong, Tim, Tully Foote, ob-tim-liu

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Plugins

No plugins found.

Recent questions tagged astra_camera at answers.ros.org

No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.

astra_camera package from astra_camera repo

astra_camera

Package Summary

Tags No category tags.
Version 0.3.0
License Apache License 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/orbbec/ros_astra_camera.git
VCS Type git
VCS Version master
Last Updated 2019-10-17
Dev Status DEVELOPED
Released RELEASED

Package Description

Drivers for Orbbec Astra Devices.

Additional Links

No additional links.

Maintainers

  • Sayter99

Authors

  • Tim Liu

astra_camera

A ROS driver for Orbbec 3D cameras.

Install

This package supports ROS Kinetic and Melodic.

  1. Install ROS.

  2. Install dependences

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

  1. Create a ROS Workspace(if you don't have one)
    mkdir -p ~/catkin_ws/src
    cd ~/catkin_ws/
    catkin_make

  1. Pull the repository into your ROS workspace
    cd ~/catkin_ws/src
    git clone https://github.com/orbbec/ros_astra_camera

  1. Create astra udev rule
    roscd astra_camera
    ./scripts/create_udev_rules

  1. Go to catkin workspace and compile astra_camera
    cd ~/catkin_ws
    catkin_make --pkg astra_camera

Filter Enable (To be deprecated: recommend to try master branch at first)

Astra driver provides normal and filtering methods. With filter driver, we can get more precise depth data but it would cost more computing resources. If the program will be executed on embedded systems, we suggest to use normal method. You can use -DFILTER=ON / OFF to change the method as below.

catkin_make --pkg astra_camera -DFILTER=OFF

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

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

  1. 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

CHANGELOG

Changelog for package astra_camera

0.3.0 (2019-08-08) ------------* Add UVC support * Add OPENNI2 include files under include folder * Add more video modes * Add useful services to control cameras * Support Stereo S, Embedded S, and Stereo S U3 * Merge astra_launch package * 56-orbbec-usb.rules now includes uvc support * CMakeLists.txt changes accordingly * Update README * Contributors: Chi-Ju Wu, Nan Xu, dandedrick, coxep

0.2.2 (2018-03-22) -----------* Add launchfile info and reformat nicely * Publish projector/camera_info (fixes disparity img) * modify gcc optimizate problem * Contributors: Chan Jun Shern, Martin G

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/multi_astra.launch
      • camera [default: camera]
      • publish_tf [default: true]
      • 3d_sensor [default: stereo_s_u3]
      • device_1_prefix [default: 01]
      • device_2_prefix [default: 02]
      • device_1_id [default: AY053930173]
      • device_2_id [default: AY053930032]
      • has_uvc_serial [default: true]
      • depth_registration [default: false]
      • rgb_processing [default: false]
      • ir_processing [default: false]
      • depth_processing [default: true]
      • depth_registered_processing [default: false]
      • disparity_processing [default: false]
      • disparity_registered_processing [default: false]
      • num_worker_threads [default: 4]
  • launch/astra_rgb.launch
  • launch/astrapro.launch
    • Entry point for using OpenNI2 devices
      • camera [default: camera]
      • rgb_frame_id [default: $(arg camera)_rgb_optical_frame]
      • depth_frame_id [default: $(arg camera)_depth_optical_frame]
      • device_id [default: #1]
      • bootorder [default: 0]
      • devnums [default: 1]
      • rgb_camera_info_url [default: ]
      • depth_camera_info_url [default: ]
      • depth_registration [default: true]
      • color_depth_synchronization [default: false]
      • auto_exposure [default: true]
      • auto_white_balance [default: true]
      • rgb [default: rgb]
      • ir [default: ir]
      • depth [default: depth]
      • load_driver [default: true]
      • publish_tf [default: true]
      • rgb_processing [default: true]
      • debayer_processing [default: false]
      • ir_processing [default: false]
      • depth_processing [default: true]
      • depth_registered_processing [default: true]
      • disparity_processing [default: false]
      • disparity_registered_processing [default: false]
      • hw_registered_processing [default: true]
      • sw_registered_processing [default: false]
      • hw_registered_processing [default: false]
      • sw_registered_processing [default: true]
      • respawn [default: false]
      • num_worker_threads [default: 4]
      • index [default: 0]
      • debug [default: false]
  • launch/stereo_s.launch
      • camera [default: camera]
      • rgb_frame_id [default: $(arg camera)_rgb_optical_frame]
      • depth_frame_id [default: $(arg camera)_depth_optical_frame]
      • device_id [default: #1]
      • bootorder [default: 0]
      • devnums [default: 1]
      • rgb_camera_info_url [default: ]
      • depth_camera_info_url [default: ]
      • depth_registration [default: true]
      • color_depth_synchronization [default: false]
      • auto_exposure [default: true]
      • auto_white_balance [default: true]
      • rgb [default: rgb]
      • ir [default: ir]
      • depth [default: depth]
      • load_driver [default: true]
      • publish_tf [default: true]
      • rgb_processing [default: true]
      • debayer_processing [default: false]
      • ir_processing [default: false]
      • depth_processing [default: true]
      • depth_registered_processing [default: true]
      • disparity_processing [default: false]
      • disparity_registered_processing [default: false]
      • hw_registered_processing [default: true]
      • sw_registered_processing [default: false]
      • hw_registered_processing [default: false]
      • sw_registered_processing [default: true]
      • respawn [default: false]
      • index [default: 0]
      • num_worker_threads [default: 4]
      • debug [default: false]
  • launch/embedded_s.launch
      • camera [default: camera]
      • rgb_frame_id [default: $(arg camera)_rgb_optical_frame]
      • depth_frame_id [default: $(arg camera)_depth_optical_frame]
      • device_id [default: #1]
      • bootorder [default: 0]
      • devnums [default: 1]
      • rgb_camera_info_url [default: ]
      • depth_camera_info_url [default: ]
      • depth_registration [default: true]
      • color_depth_synchronization [default: false]
      • auto_exposure [default: true]
      • auto_white_balance [default: true]
      • rgb [default: rgb]
      • ir [default: ir]
      • depth [default: depth]
      • load_driver [default: true]
      • publish_tf [default: true]
      • rgb_processing [default: true]
      • debayer_processing [default: false]
      • ir_processing [default: false]
      • depth_processing [default: true]
      • depth_registered_processing [default: true]
      • disparity_processing [default: false]
      • disparity_registered_processing [default: false]
      • hw_registered_processing [default: true]
      • sw_registered_processing [default: false]
      • hw_registered_processing [default: false]
      • sw_registered_processing [default: true]
      • respawn [default: false]
      • index [default: 0]
      • num_worker_threads [default: 4]
      • debug [default: false]
  • launch/astraprosm.launch
  • launch/astra.launch
    • Entry point for using OpenNI2 devices
      • camera [default: camera]
      • rgb_frame_id [default: $(arg camera)_rgb_optical_frame]
      • depth_frame_id [default: $(arg camera)_depth_optical_frame]
      • device_id [default: #1]
      • bootorder [default: 0]
      • devnums [default: 1]
      • rgb_camera_info_url [default: ]
      • depth_camera_info_url [default: ]
      • depth_registration [default: false]
      • color_depth_synchronization [default: false]
      • auto_exposure [default: true]
      • auto_white_balance [default: true]
      • rgb [default: rgb]
      • ir [default: ir]
      • depth [default: depth]
      • load_driver [default: true]
      • publish_tf [default: true]
      • rgb_processing [default: true]
      • debayer_processing [default: false]
      • ir_processing [default: false]
      • depth_processing [default: true]
      • depth_registered_processing [default: true]
      • disparity_processing [default: false]
      • disparity_registered_processing [default: false]
      • hw_registered_processing [default: true]
      • sw_registered_processing [default: false]
      • hw_registered_processing [default: false]
      • sw_registered_processing [default: true]
      • respawn [default: false]
      • num_worker_threads [default: 4]
      • debug [default: false]
  • launch/includes/manager.launch
      • manager [default: ]
      • debug [default: ]
  • launch/includes/color.launch
    • Load processing nodelets for the Color camera
      • manager [default: ]
      • respawn [default: ]
      • rgb [default: ]
  • launch/includes/ir.launch
      • manager [default: ]
      • respawn [default: ]
      • ir [default: ]
  • launch/includes/device.launch
      • manager
      • device_id
      • rgb_frame_id
      • depth_frame_id
      • rgb_camera_info_url
      • depth_camera_info_url
      • depth_registration [default: true]
      • color_depth_synchronization [default: false]
      • auto_exposure [default: true]
      • auto_white_balance [default: true]
      • respawn [default: false]
      • rgb [default: rgb]
      • ir [default: ir]
      • depth [default: depth]
  • launch/includes/depth.launch
    • Load processing nodelets for the depth camera
      • manager [default: ]
      • points_xyz [default: ]
      • rectify [default: ]
      • respawn [default: ]
      • depth [default: ]
  • launch/includes/astra_frames.launch
    • Default frames for Astra/Astra s devices Places depth and RGB cameras in the same plane with 2.5cm baseline. Calibration may improve results, but these defaults are reasonably accurate.
      • camera [default: camera]
      • tf_prefix [default: ]
  • launch/includes/pointclouds.launch
    • Load processing nodelets for the Color camera
      • manager [default: ]
      • points_xyz [default: ]
      • rectify [default: ]
      • respawn [default: ]
      • depth [default: ]
  • launch/includes/processing.launch
      • manager [default: ]
      • respawn [default: ]
      • rgb [default: ]
      • ir [default: ]
      • depth [default: ]
  • launch/stereo_s_u3.launch
      • camera [default: camera]
      • rgb_frame_id [default: $(arg camera)_rgb_optical_frame]
      • depth_frame_id [default: $(arg camera)_depth_optical_frame]
      • device_id [default: #1]
      • bootorder [default: 0]
      • devnums [default: 1]
      • uvc_serial [default: 0]
      • rgb_camera_info_url [default: ]
      • depth_camera_info_url [default: ]
      • depth_registration [default: true]
      • color_depth_synchronization [default: false]
      • auto_exposure [default: true]
      • auto_white_balance [default: true]
      • rgb [default: rgb]
      • ir [default: ir]
      • depth [default: depth]
      • load_driver [default: true]
      • publish_tf [default: true]
      • rgb_processing [default: true]
      • debayer_processing [default: false]
      • ir_processing [default: false]
      • depth_processing [default: true]
      • depth_registered_processing [default: true]
      • disparity_processing [default: false]
      • disparity_registered_processing [default: false]
      • hw_registered_processing [default: true]
      • sw_registered_processing [default: false]
      • hw_registered_processing [default: false]
      • sw_registered_processing [default: true]
      • respawn [default: false]
      • num_worker_threads [default: 4]
      • debug [default: false]
  • launch/astra_tf_prefix.launch
    • Entry point for using OpenNI2 devices (if you still use tf_prefix)
      • camera [default: camera]
      • tf_prefix [default: ]
      • rgb_frame_id [default: $(arg tf_prefix)/$(arg camera)_rgb_optical_frame]
      • depth_frame_id [default: $(arg tf_prefix)/$(arg camera)_depth_optical_frame]
      • device_id [default: #1]
      • bootorder [default: 0]
      • devnums [default: 1]
      • rgb_camera_info_url [default: ]
      • depth_camera_info_url [default: ]
      • depth_registration [default: false]
      • color_depth_synchronization [default: false]
      • auto_exposure [default: true]
      • auto_white_balance [default: true]
      • rgb [default: rgb]
      • ir [default: ir]
      • depth [default: depth]
      • load_driver [default: true]
      • publish_tf [default: true]
      • rgb_processing [default: true]
      • debayer_processing [default: false]
      • ir_processing [default: false]
      • depth_processing [default: true]
      • depth_registered_processing [default: true]
      • disparity_processing [default: false]
      • disparity_registered_processing [default: false]
      • hw_registered_processing [default: true]
      • sw_registered_processing [default: false]
      • hw_registered_processing [default: false]
      • sw_registered_processing [default: true]
      • respawn [default: false]
      • num_worker_threads [default: 4]
      • debug [default: false]
  • launch/includes/device.launch.xml
    • Launch the OpenNI2 device driver
      • manager
      • device_id
      • bootorder
      • devnums
      • rgb_frame_id
      • depth_frame_id
      • rgb_camera_info_url
      • depth_camera_info_url
      • depth_registration [default: true]
      • color_depth_synchronization [default: false]
      • auto_exposure [default: true]
      • auto_white_balance [default: true]
      • respawn [default: false]
      • rgb [default: rgb]
      • ir [default: ir]
      • depth [default: depth]
      • depth_registered [default: depth_registered]

Messages

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