astra_ros

astra_ros wraps the Orbbec Astra SDK for ROS. It can be used as a library (with or without ROS), a nodelet, or a node.

1. Installation

cd /path/to/your_catkin_workspace/src
git clone https://github.com/semio-ai/astra_ros.git

2. Compilation

The Astra SDK must be installed on the system. Set the environment variable ASTRA_ROOT to the root of the Astra SDK if it cannot be found.

cd /path/to/your_catkin_workspace
export ASTRA_ROOT=/path/to/astra_sdk
catkin_make

3. Documentation

3.1. Node Tutorial

View the node tutorial at https://github.com/semio-ai/astra_ros/wiki/Tutorial.

3.2. API Documentation

View the C++ API documentation at https://semio-ai.github.io/astra_ros/annotated.html.

4. ROS Node

4.1. Parameters

• ~/devices - A map of devices to open and publish
• ~/devices/$DEVICE_NAME - Parameters for the device with the name $DEVICE_NAME. $DEVICE_NAME will determine topic namespacing.

4.1.1. Color Stream

• ~/devices/$DEVICE_NAME/color - Must be present for the color stream to be enabled. Can either contain sub-keys or be set to true. If the stream is not enabled, setting it to running later is not possible.
• ~/devices/$DEVICE_NAME/color/running - Set whether the color stream is running. Defaults to true.
• ~/devices/$DEVICE_NAME/color/mirrored - Set whether the color frames are mirrored horizontally. Defaults to false.

4.1.2. IR Stream

• ~/devices/$DEVICE_NAME/ir - Must be present for the IR stream to be enabled. Can either contain sub-keys or be set to true. If the stream is not enabled, setting it to running later is not possible.
• ~/devices/$DEVICE_NAME/ir/running - Set whether the IR stream is running. Defaults to true.

4.1.3. Depth Stream

• ~/devices/$DEVICE_NAME/depth - Must be present for the depth stream to be enabled. Can either contain sub-keys or be set to true. If the stream is not enabled, setting it to running later is not possible.
• ~/devices/$DEVICE_NAME/depth/running - Set whether the depth stream is running. Defaults to true.
• ~/devices/$DEVICE_NAME/depth/mirrored - Set whether the depth frames are mirrored horizontally. Defaults to false.

4.1.4. Body Stream

• ~/devices/$DEVICE_NAME/body - Must be present for the body stream to be enabled. Can either contain sub-keys or be set to true. If the stream is not enabled, setting it to running later is not possible.
• ~/devices/$DEVICE_NAME/body/publish_tf - Set whether to publish TF frames. Defaults to true.
• ~/devices/$DEVICE_NAME/body/running - Set whether the body stream is running. Defaults to true.
• ~/devices/$DEVICE_NAME/body/publish_body_markers - Set whether visualization markers are published for tracked bodies. Defaults to false.
• ~/devices/$DEVICE_NAME/body/publish_body_mask - Set whether the body mask image is published. Defaults to true.
• ~/devices/$DEVICE_NAME/body/publish_floor_mask - Set whether the floor mask image is published. Defaults to true.
• ~/devices/$DEVICE_NAME/body/license - The license string for the Orbbec Body Tracking SDK. Depending on the SDK version used, this value must be set.
• ~/devices/$DEVICE_NAME/body/frame_id - Must be set to the orbbec camera’s optical frame.

4.1.5. Hand Stream

• ~/devices/$DEVICE_NAME/hand - Must be present for the hand stream to be enabled. Can either contain sub-keys or be set to true. If the stream is not enabled, setting it to running later is not possible.
• ~/devices/$DEVICE_NAME/hand/running - Set whether the hand stream is running. Defaults to true.

4.1.6. Masked Color Stream

• ~/devices/$DEVICE_NAME/masked_color - Must be present for the masked color stream to be enabled. Can either contain sub-keys or be set to true.
• ~/devices/$DEVICE_NAME/masked_color/running - Set whether the masked color stream is running. Defaults to true.

4.1.7. Colorized Body Stream

• ~/devices/$DEVICE_NAME/colorized_body - Must be present for the colorized body stream to be enabled. Can either contain sub-keys or be set to true. If the stream is not enabled, setting it to running later is not possible.
• ~/devices/$DEVICE_NAME/colorized_body/running - Set whether the colorized body stream is running. Defaults to true.

4.1.8. Point Stream

• ~/devices/$DEVICE_NAME/point - Must be present for the point stream to be enabled. Can either contain sub-keys or be set to true. If the stream is not enabled, setting it to running later is not possible.
• ~/devices/$DEVICE_NAME/point/running - Set whether the point stream is running. Defaults to true.

4.1.9. Example ROS Parameter file

devices:
  default:
    color: true
    depth: true
    ir: false # The Astra SDK only supports two "physical" streams from the sensor at once!
    body:
      publish_body_markers: true
      frame_id: "quori/head_camera_optical"
      license: "$YOUR_LICENSE"

4.2. Topics

4.2.1. Color Stream

• color/image_color: sensor_msgs/Image - The color image
• color/camera_info: sensors_msgs/CameraInfo - The color camera’s intrinsics

4.2.2. IR Stream

• ir/image: sensor_msgs/Image - The IR image

4.2.3. Depth Stream

• depth/image: sensor_msgs/Image - The depth image
• depth/camera_info: sensors_msgs/CameraInfo - The depth camera’s intrinsics

4.2.4. Body Stream

• body/frame: astra_ros/BodyFrame - The body frames
• body/markers: visualization_msgs/MarkerArray - The body markers
• body/mask: sensor_msgs/Image - The body mask
• body/floor_mask: sensor_msgs/Image - The floor mask

4.2.5. Colorized Body Stream

• colorized_body/image: sensor_msgs/Image - The colorized body image

4.2.6. Masked Color Stream

• masked_color/image: sensor_msgs/Image - The masked color image

4.2.7. Point Stream

• point_cloud: sensor_msgs/PointCloud - The RGBD point cloud

4.3. Services

4.3.1. Color Stream

• color/get_usb_info: astra_ros/UsbInfo - Get the USB information for the color camera.
• color/get_mirrored: astra_ros/GetMirrored - Get whether the color frame is mirrored horizontally.
• color/set_mirrored: astra_ros/SetMirrored - Set whether the color frame is mirrored horizontally.
• color/get_image_stream_modes: astra_ros/GetImageStreamModes - Get the image stream modes supported by the color camera.
• color/get_image_stream_mode: astra_ros/GetImageStreamMode - Get the current image stream mode used by the color camera.
• color/set_image_stream_mode: astra_ros/SetImageStreamMode - Configure the image stream mode for the color camera.
• color/get_running: astra_ros/GetRunning - Get the running status of the color camera.
• color/set_running: astra_ros/SetRunning - Set the running status of the color camera. False means that no color frames will be published.

4.3.2. Depth Stream

• depth/get_chip_id: astra_ros/GetChipId - Get the Orbbec chip ID.
• depth/get_mirrored: astra_ros/GetMirrored - Get whether the depth frame is mirrored horizontally.
• depth/set_mirrored: astra_ros/SetMirrored - Set whether the depth frame is mirrored horizontally.
• depth/get_registration: astra_ros/GetRegistration - Get whether the depth frame is registered.
• depth/set_registration: astra_ros/SetRegistration - Set whether the depth frame is registered.
• depth/get_usb_info: astra_ros/UsbInfo - Get the USB information for the depth camera.
• depth/get_image_stream_modes: astra_ros/GetImageStreamModes - Get the image stream modes supported by the depth camera.
• depth/get_image_stream_mode: astra_ros/GetImageStreamMode - Get the current image stream mode used by the depth camera.
• depth/set_image_stream_mode: astra_ros/SetImageStreamMode - Configure the image stream mode for the depth camera.
• depth/get_running: astra_ros/GetRunning - Get the running status of the depth camera.
• depth/set_running: astra_ros/SetRunning - Set the running status of the depth camera. False means that no depth frames will be published.

4.3.3. IR Stream

• ir/get_usb_info: astra_ros/UsbInfo - Get the USB information for the IR camera
• ir/get_image_stream_modes: astra_ros/GetImageStreamModes - Get the image stream modes supported by the IR camera
• ir/get_image_stream_mode: astra_ros/GetImageStreamMode - Get the current image stream mode used by the IR camera
• ir/set_image_stream_mode: astra_ros/SetImageStreamMode - Configure the image stream mode for the IR camera
• ir/get_running: astra_ros/GetRunning - Get the running status of the IR camera
• ir/set_running: astra_ros/SetRunning - Set the running status of the IR camera. False means that no IR frames will be published.

4.3.4. Colorized Body Stream

• colorized_body/get_running: astra_ros/GetRunning - Get the running status of the colorized body stream
• colorized_body/set_running: astra_ros/SetRunning - Set the running status of the colorized body stream. False means that no colorized body frames will be published.

4.3.5. Hand Stream

• hand/get_running: astra_ros/GetRunning - Get the running status of the hand stream
• hand/set_running: astra_ros/SetRunning - Set the running status of the hand stream. False means that no hand frames will be published.

4.3.6. Point Stream

• point/get_running: astra_ros/GetRunning - Get the running status of the point stream
• point/set_running: astra_ros/SetRunning - Set the running status of the point stream. False means that no point frames will be published.

5. License

astra_ros is released under the terms of the 3-Clause BSD License. See LICENSE for details.