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Astra_Setup_Ros
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$ cd catkin_ws/src
$ catkin_init_workspace
$ git clone https://github.com/tonybaltovski/ros_astra_launch.git --branch upstream
$ git clone https://github.com/tonybaltovski/ros_astra_camera.git --branch upstream
$ cd ..
$ rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y
$ catkin_make
$ source devel/setup.bash
$ rosrun astra_camera create_udev_rules
(you may need to reboot here)
$ roslaunch astra_launch astra_pro.launch
#shows the published topics
$ rostopic list
# to see the published rgb image
$ rosrun image_view image_view image:=/camera/rgb/image_raw
# to see the RGB camera parameters
$ rostopic echo /camera/rgb/camera_info
# camera parameter files are stored in .yaml files
rgb_Astra_Orbbec.yaml
depth_Astra_Orbbec.yaml
# in launch file change the line
from
<!-- <param name="camera_info_url" value="file:///tmp/cam.yaml"/> -->
to
<param name="camera_info_url" value="$(arg rgb_camera_info_url)"/>
## then do the following
$ cd ~/catkin_ws
$ rm -rf build
$ rm -rf devel
$ catkin_make
# To check camera parameters
# Start Astra Pro Camera
$ roslaunch astra_launch astra_pro.launch
# Check Depth Camera Parameter
$ rostopic echo /camera/depth/camera_info
# Check RGB Camera Parameters
$ rostopic echo /camera/rgb/camera_info
# check RGB image
$ rosrun image_view image_view image:=/camera/rgb/image_raw
# check depth image
$ rosrun image_view image_view image:=/camera/depth/image_raw
/camera/camera_nodelet_manager/bond
/camera/depth/camera_info
/camera/depth/image
/camera/depth/image/compressed
/camera/depth/image/compressed/parameter_descriptions
/camera/depth/image/compressed/parameter_updates
/camera/depth/image/compressedDepth
/camera/depth/image/compressedDepth/parameter_descriptions
/camera/depth/image/compressedDepth/parameter_updates
/camera/depth/image/theora
/camera/depth/image/theora/parameter_descriptions
/camera/depth/image/theora/parameter_updates
/camera/depth/image_raw
/camera/depth/image_raw/compressed
/camera/depth/image_raw/compressed/parameter_descriptions
/camera/depth/image_raw/compressed/parameter_updates
/camera/depth/image_raw/compressedDepth
/camera/depth/image_raw/compressedDepth/parameter_descriptions
/camera/depth/image_raw/compressedDepth/parameter_updates
/camera/depth/image_raw/theora
/camera/depth/image_raw/theora/parameter_descriptions
/camera/depth/image_raw/theora/parameter_updates
/camera/depth/image_rect
/camera/depth/image_rect/compressed
/camera/depth/image_rect/compressed/parameter_descriptions
/camera/depth/image_rect/compressed/parameter_updates
/camera/depth/image_rect/compressedDepth
/camera/depth/image_rect/compressedDepth/parameter_descriptions
/camera/depth/image_rect/compressedDepth/parameter_updates
/camera/depth/image_rect/theora
/camera/depth/image_rect/theora/parameter_descriptions
/camera/depth/image_rect/theora/parameter_updates
/camera/depth/image_rect_raw
/camera/depth/image_rect_raw/compressed
/camera/depth/image_rect_raw/compressed/parameter_descriptions
/camera/depth/image_rect_raw/compressed/parameter_updates
/camera/depth/image_rect_raw/compressedDepth
/camera/depth/image_rect_raw/compressedDepth/parameter_descriptions
/camera/depth/image_rect_raw/compressedDepth/parameter_updates
/camera/depth/image_rect_raw/theora
/camera/depth/image_rect_raw/theora/parameter_descriptions
/camera/depth/image_rect_raw/theora/parameter_updates
/camera/depth/points
/camera/depth_rectify_depth/parameter_descriptions
/camera/depth_rectify_depth/parameter_updates
/camera/depth_registered/camera_info
/camera/depth_registered/hw_registered/image_rect
/camera/depth_registered/hw_registered/image_rect/compressed
/camera/depth_registered/hw_registered/image_rect/compressed/parameter_descriptions
/camera/depth_registered/hw_registered/image_rect/compressed/parameter_updates
/camera/depth_registered/hw_registered/image_rect/compressedDepth
/camera/depth_registered/hw_registered/image_rect/compressedDepth/parameter_descriptions
/camera/depth_registered/hw_registered/image_rect/compressedDepth/parameter_updates
/camera/depth_registered/hw_registered/image_rect/theora
/camera/depth_registered/hw_registered/image_rect/theora/parameter_descriptions
/camera/depth_registered/hw_registered/image_rect/theora/parameter_updates
/camera/depth_registered/hw_registered/image_rect_raw
/camera/depth_registered/hw_registered/image_rect_raw/compressed
/camera/depth_registered/hw_registered/image_rect_raw/compressed/parameter_descriptions
/camera/depth_registered/hw_registered/image_rect_raw/compressed/parameter_updates
/camera/depth_registered/hw_registered/image_rect_raw/compressedDepth
/camera/depth_registered/hw_registered/image_rect_raw/compressedDepth/parameter_descriptions
/camera/depth_registered/hw_registered/image_rect_raw/compressedDepth/parameter_updates
/camera/depth_registered/hw_registered/image_rect_raw/theora
/camera/depth_registered/hw_registered/image_rect_raw/theora/parameter_descriptions
/camera/depth_registered/hw_registered/image_rect_raw/theora/parameter_updates
/camera/depth_registered/image
/camera/depth_registered/image/compressed
/camera/depth_registered/image/compressed/parameter_descriptions
/camera/depth_registered/image/compressed/parameter_updates
/camera/depth_registered/image/compressedDepth
/camera/depth_registered/image/compressedDepth/parameter_descriptions
/camera/depth_registered/image/compressedDepth/parameter_updates
/camera/depth_registered/image/theora
/camera/depth_registered/image/theora/parameter_descriptions
/camera/depth_registered/image/theora/parameter_updates
/camera/depth_registered/image_raw
/camera/depth_registered/image_raw/compressed
/camera/depth_registered/image_raw/compressed/parameter_descriptions
/camera/depth_registered/image_raw/compressed/parameter_updates
/camera/depth_registered/image_raw/compressedDepth
/camera/depth_registered/image_raw/compressedDepth/parameter_descriptions
/camera/depth_registered/image_raw/compressedDepth/parameter_updates
/camera/depth_registered/image_raw/theora
/camera/depth_registered/image_raw/theora/parameter_descriptions
/camera/depth_registered/image_raw/theora/parameter_updates
/camera/depth_registered/points
/camera/depth_registered_rectify_depth/parameter_descriptions
/camera/depth_registered_rectify_depth/parameter_updates
/camera/driver/parameter_descriptions
/camera/driver/parameter_updates
/camera/ir/camera_info
/camera/ir/image
/camera/ir/image/compressed
/camera/ir/image/compressed/parameter_descriptions
/camera/ir/image/compressed/parameter_updates
/camera/ir/image/compressedDepth
/camera/ir/image/compressedDepth/parameter_descriptions
/camera/ir/image/compressedDepth/parameter_updates
/camera/ir/image/theora
/camera/ir/image/theora/parameter_descriptions
/camera/ir/image/theora/parameter_updates
/camera/rgb/astra_pro_uvc/parameter_descriptions
/camera/rgb/astra_pro_uvc/parameter_updates
/camera/rgb/camera_info
/camera/rgb/image_raw
/camera/rgb/image_raw/compressed
/camera/rgb/image_raw/compressed/parameter_descriptions
/camera/rgb/image_raw/compressed/parameter_updates
/camera/rgb/image_raw/compressedDepth
/camera/rgb/image_raw/compressedDepth/parameter_descriptions
/camera/rgb/image_raw/compressedDepth/parameter_updates
/camera/rgb/image_raw/theora
/camera/rgb/image_raw/theora/parameter_descriptions
/camera/rgb/image_raw/theora/parameter_updates
/rosout
/rosout_agg
/tf
subscribed to [/camera/rgb/image_raw]
average rate: 15.063
min: 0.062s max: 0.070s std dev: 0.00257s window: 14
average rate: 15.047
min: 0.062s max: 0.070s std dev: 0.00237s window: 29
average rate: 15.030
min: 0.062s max: 0.070s std dev: 0.00251s window: 43
subscribed to [/camera/depth/image_raw]
average rate: 30.037
min: 0.031s max: 0.034s std dev: 0.00055s window: 28
average rate: 30.029
min: 0.031s max: 0.035s std dev: 0.00055s window: 58
average rate: 30.014
min: 0.031s max: 0.035s std dev: 0.00052s window: 89