1. 개요
우분투 22.04 LTS에서 ORBBEC Astra Pro를 ROS2 Humble과 연결하고 테스트 한다.
https://github.com/orbbec/ros2_astra_camera
2. Downloads
Astra Pro 드라이버는 liborbbec.so libOniFile.so를 사용한다.
Astra Pro는 USB2.0 또는 USB3.0 (파란색)를 사용하며 전원 용량을 고려하여 컴퓨터 본체 뒤면의 USB포트를 사용한다.
(1) Install dependencies
> sudo apt install libgflags-dev ros-$ROS_DISTRO-image-geometry ros-$ROS_DISTRO-camera-info-manager\
ros-$ROS_DISTRO-image-transport ros-$ROS_DISTRO-image-publisher libgoogle-glog-dev libusb-1.0-0-dev libeigen3-dev
(2) Install libuvc
> git clone https://github.com/libuvc/libuvc.git
> cd libuvc
> mkdir build && cd build
> cmake .. && make -j4
> sudo make install
> sudo ldconfig # Refreshing the link library
3. 프로젝트 만들기 humble 환경
> source /opt/ros/humble/setup.bash # ROS 2 기본 환경
> mkdir -p ros2_ws/src
> cd ros2_ws/src
# src 폴더 아래에 설치 한다.
> git clone https://github.com/orbbec/ros2_astra_camera
다음은 Astra_pro 버전이 아니다.
(x) git clone https://github.com/orbbec/OrbbecSDK_ROS2.git
> cd ~/ros2_ws/src/ros2_astra_camera/astra_camera/scripts
> sudo bash install.sh
> sudo udevadm control --reload-rules && sudo udevadm trigger
4. 컴파일하기
> cd ~/ros2_ws
> source /opt/ros/humble/setup.bash
> colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=Release
# Terminal #1
> source /opt/ros/humble/setup.bash # ROS 2 기본 환경
> cd ~/ros2_ws
> source install/setup.bash
> ros2 launch astra_camera astra_pro.launch.xml
# Terminal #2
> source /opt/ros/humble/setup.bash # ROS 2 기본 환경
> cd ~/ros2_ws
> source install/setup.bash
> ros2 topic list
/camera/color/camera_info
/camera/color/image_raw
/camera/depth/camera_info
/camera/depth/image_raw
/camera/depth/points
/camera/ir/camera_info
/camera/ir/image_raw
> ros2 run rviz2 rviz2
Rviz2에서 "Add" 버튼 => By Topic => /camera/color/image_raw/Image
Rviz2에서 "Add" 버튼 => By Topic => /camera/depth/image_raw/Image
> ros2 topic echo /camera/depth/camera_info
> ros2 topic echo /camera/color/camera_info