作者：童虎
编辑：3D视觉开发者社区

Orbbec Astra Pro传感器在ROS（indigo和kinetic）使用说明
这款摄像头使用uvc输入彩色信息，需要libuvc和libuvc_ros这样才能在ROS正常使用彩色功能。
请在下面网址，分别下载对应包：

https://github.com/ktossellhttps://orbbec3d.com/develop/

也可以直接下载打包好的资源：

http://download.csdn.net/detail/zhangrelay/9705366

首先安装驱动，依据版本选择下载驱动中合适的版本：
图片alt

依据下列文档说明进行安装：特别注意标出部分

#############Note#################### For user with ARM based development board:# With CPU Structure older than Cortex A17, use OpenNI-Linux-Arm-2.3 Nofilter.tar for better performance
##################################### There are two zip files, one is for 32bit machine, the other one is for 64bit# We choose 64bit(x64) and make the example as follows:

这里应为系统是Ubuntu 16.04 64bit PC选择对应64bit版本

#To run visual samples (e.g., SimpleViewer), you will need freeglut3 header and libaries,
please install:$ sudo apt-get install build-essential freeglut3
freeglut3-dev#check udev
version, Orbbec Driver need libudev.so.1 ,if can’t find it, can make symbolic link from libudev.so.x.x,#which usually locate in /lib/x86_64-linux-gnu or
/lib/i386-linux-gnu $l d co n f i g - p ∣ g re pl ib u d e v . so .1$ cd /lib/x86_64-linux-gnu$sudo ln -s libudev.so.x.x.x libudev.so.1# copy tgz file to any place you want(e.g., Home)# unzip tgz file

拷贝到对应文件夹并解压缩：

$ tar zxvf OpenNI-Linux-x64 -2.2-0118.tgz$ cd OpenNI-Linux-x64-2.2

#run install.sh to generate
OpenNIDevEnvironment, which contains OpenNI development
environment

$ sudo ./install.sh

#please replug in the device for usb-register# add environment variables

$ source OpenNIDevEnvironment

#build sample(e.g., SimpleViewer)

$ cd Samples/SimpleViewer$ make

#run sample# connect sensor

$ cd Bin/x64-Release$ ./SimpleViewer

#now you should be able to see a GUI window showing the depth stream video# If the Debian Jessie Lite is used for testing,
it may require the following installation for properly start the viewer.

$ sudo apt-get install libgl1-mesa-dri

安装完毕后，进行功能测试：

~/tools/OpenNI-Linux-x64-2.3/Samples/Bin$ lsClosestPointViewer MultiDepthViewer org.openni.jarEventBasedRead MultipleStreamRead org.openni.Samples.SimpleViewerlibMWClosestPoint.so MWClosestPointApp
org.openni.Samples.SimpleViewer.jarlibOpenNI2.jni.so OpenNI2
SimpleReadlibOpenNI2.so OpenNI.ini SimpleViewer

使用./SimpleViewer和./ClosestPointViewer，注意传感器特性，深度视觉0.4-8.0米，如下：
在这里插入图片描述图片alt

安装ROS功能包，以kinetic为例，indigo类似：

~$ sudo apt-get install ros-kinetic-astra-camera ros-kinetic-astra-launch

完毕后，使用：

relaybotbox@relaybotbox-desktop:~$ roslaunch astra_launchastra.launch
device.launch pointclouds.launchastra_tf_prefix.launch
ir.launch processing.launchcolor.launch
kinect_frames.launchdepth.launch
manager.launchrelaybotbox@relaybotbox-desktop:~$ roslaunch
astra_launch astra.launch

工作正常的话可以看到：

~$ roslaunch astra_launch astra.launch… logging to
/home/relaybotbox/.ros/log/26bcfad8-bcf9-11e6-bc52-00e0b4159b09/roslaunch-relaybotbox-desktop-6834.logChecking log directory for disk usage. This may take awhile.Press Ctrl-C to
interruptDone checking log file disk usage. Usage is <1GB. started
roslaunch server http://relaybotbox-desktop:33177/ SUMMARY
======== PARAMETERS * /camera/camera_nodelet_manager/num_worker_threads: 4 *
/camera/depth_rectify_depth/interpolation: 0 *
/camera/driver/auto_exposure: True *
/camera/driver/auto_white_balance: True *
/camera/driver/color_depth_synchronization: False *
/camera/driver/depth_camera_info_url: *
/camera/driver/depth_frame_id: camera_depth_opti… *
/camera/driver/depth_registration: False * /camera/driver/device_id:
#1 * /camera/driver/rgb_camera_info_url: * /camera/driver/rgb_frame_id: camera_rgb_optica… * /rosdistro:
kinetic * /rosversion: 1.12.6 NODES /camera/
camera_nodelet_manager (nodelet/nodelet)
depth_metric (nodelet/nodelet)
depth_metric_rect (nodelet/nodelet)
depth_points (nodelet/nodelet)
depth_rectify_depth (nodelet/nodelet)
depth_registered_sw_metric_rect (nodelet/nodelet)
driver (nodelet/nodelet)
points_xyzrgb_sw_registered (nodelet/nodelet)
register_depth_rgb (nodelet/nodelet)
rgb_rectify_color (nodelet/nodelet) /
camera_base_link (tf2_ros/static_transform_publisher)
camera_base_link1 (tf2_ros/static_transform_publisher)
camera_base_link2 (tf2_ros/static_transform_publisher)
camera_base_link3 (tf2_ros/static_transform_publisher)
auto-starting new master process[master]: started with pid [6468]
ROS_MASTER_URI=http://localhost:11311 setting /run_id to
26b26bcfad8-bcf9-11e6-bc52-00e0b4159b09
process[rosout-1]: started with
pid [6861] started core service [/rosout]
process[camera/camera_nodelet_manager-2]: started with pid [6864]
process[camera/driver-3]: started with pid [6865]
process[camera/rgb_rectify_color-4]: started with pid [6867]
process[camera/depth_rectify_depth-5]: started with pid [6878]
process[camera/depth_metric_rect-6]: started with pid [6896]
process[camera/depth_metric-7]: started with pid [6912]
process[camera/depth_points-8]: started with pid [6920]
process[camera/register_depth_rgb-9]: started with pid [6938]
process[camera/points_xyzrgb_sw_registered-10]: started with pid
[6949] process[camera_base_link-12]: started with pid [6970]
process[camera_base_link1-13]: started with pid [6986]
process[camera_base_link2-14]: started with pid [6997]
process[camera_base_link3-15]: started with pid [7008] [ INFO]
[1481168899.738014182]: Initializing nodelet with 4 worker threads. [
INFO] [1481168900.562120390]: Device“2bc5/0403@2/5” found. Warning:
USB events thread - failed to set priority. This might cause loss of
data…

使用rqt_image_view：
图片alt

** 图片alt
**
发现rgb并没有正确显示？？需要UVC支持。

编译libuvc过程如下：注意红色部分

libuvc is a cross-platform library for USB video devices, built atop libusb.It enables fine-grained control over USB video devices exporting the standard USB Video Class (UVC) interface, enabling developers to write drivers for previously unsupported devices,or just access UVC devices in a generic fashion.

Getting and Building libuvc

Prerequisites: You will need libusb and CMake installed.

To build, you can just run these shell commands:

git clone https://github.com/ktossell/libuvccd libuvcmkdir buildcd
buildcmake …make && sudo make install

and you’re set! If you want to change the build configuration, you can edit CMakeCache.txt in the build directory, or use a CMake GUI to make the desired changes.

Developing with libuvc

The documentationfor libuvc can currently be found at https://int80k.com/libuvc/doc/.

然后编译libuvc_ros：注意红色部分

libuvc_camera is a ROS driver that supports webcams and other UVC-standards-compliant video devices.It’s a cross-platform replacement for uvc_camera, a Linux-only webcam driver.Documentation is available on the ROS wiki: libuvc_camera.

使用catkin_make，如果报错，注意libusb.h的位置。使用locate libusb.h，并将其放到合适位置：

~$ sudo cp /usr/include/libusb-1.0/libusb.h /usr/local/include/libuvc/

修改下libuvc.h中include中的路径。

在启动roscore后，使用：

~$ rosrun libuvc_camera camera_node

查看rgb。

~$ rosrun libuvc_camera camera_node[ INFO] [1481169521.460856223]: Opening camera with vendor=0x0, product=0x0, serial=””, index=0[ERROR] [1481169521.461465837]: Permission denied opening /dev/bus/usb/002/004

出现报错，修改端口权限，重试。

[ERROR] [1481169521.461465837]: Permission denied opening /dev/bus/usb/002/004 relaybotbox@relaybotbox-desktop:~$ sudo chmod777 /dev/bus/usb/002/004[sudo] relaybotbox的密码：relaybotbox@relaybotbox-desktop:~$ rosrun libuvc_camera
camera_node[ INFO] 1481169588.328108966]: Opening camera with vendor=0x0, product=0x0, serial=””, index=0unsupported descriptor subtype: 13unsupported descriptor subtype: 13[ WARN] [1481169589.131025001]: Unable to set scanning_mode to 0[ WARN] [1481169589.132290563]: Unable to set auto_exposure to 8[ WARN] [1481169589.133330942]:Unable to set auto_exposure_priority to 0[ WARN] [1481169589.135009273]: Unable to set exposure_absolute to 1[ WARN] [1481169589.136271211]: Unable to set auto_focus to 1[ WARN] [1481169589.137170759]: Unable to set focus_absolute to 0[ WARN] [1481169589.138442322]: Unable to set gain to 0[> WARN] [1481169589.140162069]: Unable to set iris_absolute to 0[ WARN] [1481169589.141553880]:> Unable to set pantilt to 0, 0[ INFO] [1481169589.273060465]: using default calibration> URL[ INFO] [1481169589.273198871]: camera calibration URL: file:///home/relaybotbox/.ros/camera_info/camera.yaml[ INFO] [1481169589.273354822]: Unable> to open camera calibration file> [/home/relaybotbox/.ros/camera_info/camera.yaml][ WARN] [1481169589.273418390]: Camera> calibration file /home/relaybotbox/.ros/camera_info/camera.yaml not found.