astra_depth_camera_wiki

Follow the instructions in https://github.com/orbbec/ros_astra_camera. On the robot, the Astra rules should be added to /etc/udev/rules.d/80-mbot.rules or /etc/udev/rules.d/85-mbot.rules instead of /etc/udev/rules.d/56-orbbec.rules.

These rules should be installed using the appropriate script from scripts/udev_rules (see this page for more info about udev rules setup instructions).

Known issues:

• Camera id set incorrectly in mbot_bringup launch:

[ INFO] [/head_camera/head_camera_nodelet_manager]: No matching device found.... waiting for devices. Reason: astra_wrapper::AstraDevice::AstraDevice(const string&) @ /tmp/binarydeb/ros-kinetic-astra-camera-0.2.2/src/astra_device.cpp @ 76 : Device open failed
	Could not open "1d27/0601@3/8": USB transfer timeout!


Warning: USB events thread - failed to set priority. This might cause loss of data...

This error is visible in the output of bringup when the camera id for the astra is set to the id of another camera plugged in the robot (e.g. an ASUS camera).

Solution:

Execute rosrun astra_camera astra_list_devices and make sure the id from this command matches the one set in mbot_drivers/mbot_bringup/ros/launch/components/depth_cameras_driver.launch, <arg name="device_id" value="#2" /> (id is 2 in this example). Note that ids in the output of astra_list_devices start from 0, while the ids in the launchfile start from 1.

Note that the output of astra_list_devices may mistakenly show other cameras (e.g. ASUS) as Orbbec cameras.