astra_camera package from astra_camera repo

astra_camera

Package Summary

Tags No category tags.
Version 0.2.2
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 2019-06-20
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 pacakge 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. If you don't have a ROS workspace, please create a ROS Workspace
    mkdir -p ~/catkin_ws/src
    cd ~/catkin_ws/
    catkin_make

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

  2. Create astra udev rule

    cd ros_astra_camera
    ./scripts/create_udev_rules

  1. Go to catkin workspace and compile astra_camera

    catkin_make --pkg astra_camera

Filter Enable

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

You will need to clone the launch files from astra_launch repository into your workspace.

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

source $YOUR_WORKSPACE/devel/setup.bash

Examples

Use Astra

roslaunch astra_launch astra.launch

Use Astra Stereo S (w/ UVC)

roslaunch astra_launch stereo_s.launch

You can use rviz or image_view to verify the outputs.

Important Topics

  • */image_raw: depth/rgb/ir raw images
  • */image_rect_raw: images rectified by intrinsic/extrinsic parameters
  • */camera_info: camera intrinsic/extrinsic paramers
  • /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_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

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}"

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

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

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 (2019-03-14) ------------1. Add UVC RGB camera launch in orbbec_UVCrgb_Launch 2. Add OPENNI2 include files under include folder 3. Add video_modes_lookup[13] 640X400 in astra_driver.cpp 4. 56-orbbec-usb.rules now includes uvc support 5. CMakeLists.txt changes accordingly

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.

Recent questions tagged astra_camera at answers.ros.org

astra_camera package from astra_camera repo

astra_camera

Package Summary

Tags No category tags.
Version 0.2.2
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 2019-06-20
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 pacakge 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. If you don't have a ROS workspace, please create a ROS Workspace
    mkdir -p ~/catkin_ws/src
    cd ~/catkin_ws/
    catkin_make

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

  2. Create astra udev rule

    cd ros_astra_camera
    ./scripts/create_udev_rules

  1. Go to catkin workspace and compile astra_camera

    catkin_make --pkg astra_camera

Filter Enable

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

You will need to clone the launch files from astra_launch repository into your workspace.

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

source $YOUR_WORKSPACE/devel/setup.bash

Examples

Use Astra

roslaunch astra_launch astra.launch

Use Astra Stereo S (w/ UVC)

roslaunch astra_launch stereo_s.launch

You can use rviz or image_view to verify the outputs.

Important Topics

  • */image_raw: depth/rgb/ir raw images
  • */image_rect_raw: images rectified by intrinsic/extrinsic parameters
  • */camera_info: camera intrinsic/extrinsic paramers
  • /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_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

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}"

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

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

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 (2019-03-14) ------------1. Add UVC RGB camera launch in orbbec_UVCrgb_Launch 2. Add OPENNI2 include files under include folder 3. Add video_modes_lookup[13] 640X400 in astra_driver.cpp 4. 56-orbbec-usb.rules now includes uvc support 5. CMakeLists.txt changes accordingly

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.

Recent questions tagged astra_camera at answers.ros.org