vslam-orbbec-camera-astra-pro

# astra_camera The ros_astra_camera package is an OpenNI2 ROS wrapper created for Orbbec 3D cameras. This package allows the usage of Orbbec 3D cameras with ROS Kinetic, Melodic, and Noetic distributions ## Install dependencies ### ROS - Please refer directly to ROS [wiki](http://wiki.ros.org/ROS/Installation). ### other dependencies - Install dependencies (be careful with your ROS distribution) ```bash # Assuming you have sourced the ros environment, same below 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 ``` - Install libuvc. ```bash git clone https://github.com/libuvc/libuvc.git cd libuvc mkdir build && cd build cmake .. && make -j4 sudo make install sudo ldconfig ``` ## Getting start - Create a ros workspace( if you don't have one). ```bash mkdir -p ~/ros_ws/src ``` - Clone code from github. ```bash cd ~/ros_ws/src git clone https://github.com/orbbec/ros_astra_camera.git ``` - Build ```bash cd ~/ros_ws catkin_make ``` - Install udev rules. ```bash cd ~/ros_ws source ./devel/setup.bash roscd astra_camera ./scripts/create_udev_rules sudo udevadm control --reload && sudo udevadm trigger ``` Start the camera - In terminal 1 ```bash source ./devel/setup.bash roslaunch astra_camera astra.launch ``` - In terminal 2 ```bash source ./devel/setup.bash rviz ``` Select the topic you want to display - Check topics / services/ parameters (open a new terminal) ```bash rostopic list rosservice list rosparam list ``` - Check camera extrinsic parameter(from depth to color) ```bash rostopic echo /camera/extrinsic/depth_to_color ``` - Get camera parameter ```bash rosservice call /camera/get_camera_params "{}" ``` - Check camera parameter, please refer to the ROS documentation for the meaning of the specific fields of the camera parameter [camera info](http://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/CameraInfo.html) ```bash rostopic echo /camera/depth/camera_info rostopic echo /camera/color/camera_info ``` - Check device information ```bash rosservice call /camera/get_device_info "{}" ``` - Get the SDK version (Include firmware and OpenNI version ) ```bash rosservice call /camera/get_version "{}" ``` - Set/get (auto) exposure ```bash rosservice call /camera/set_color_auto_exposure '{data: false}' rosservice call /camera/set_uvc_auto_exposure '{data: false}' rosservice call /camera/set_ir_auto_exposure "{data: false}" # Setting exposure values (Be careful with the data range, the following example may not be correct.) rosservice call /camera/set_ir_exposure "{data: 2000}" roservice call /camera/set_color_exposure "{data: 2000}" rosservice call /camera/set_uvc_exposure "{data: 2000}" # Get exposure rosservice call /camera/get_ir_exposure "{}" rosservice call /camera/get_color_exposure "{}" rosservice call /camera/get_uvc_exposure "{}" ``` - Set/get gain ```bash # Get Gain rosservice call /camera/get_color_gain '{}' # OpenNI camera rosservice call /camera/get_ir_gain '{}' # OpenNI camera rosservice call /camera/get_uvc_gain "{}" # UVC camera # Setting the gain (Be careful with the data range, the following example may not be correct.) rosservice call /camera/set_color_gain "{data: 200}" rosservice call /camera/set_ir_gain "{data: 200}" roservice call /camera/set_uvc_gain "{data: 200}" ``` - Set/get mirror ```bash rosservice call /camera/set_color_mirror "{data: true}" rosservice call /camera/set_depth_mirror "{data: true}" rosservice call /camera/set_ir_mirror "{data: true}" rosservice call /camera/set_uvc_mirror "{data: true}" ``` - Set/get (auto) white balance ```bash rosservice call /camera/set_uvc_auto_white_balance "{data: false}" #(Be careful with the data range, the following example may not be correct.) rosservice call /camera/set_uvc_white_balance "{data: 200}" ``` - Turn on/off laser ```bash rosservice call /camera/set_laser '{data: true}' # Turn on rosservice call /camera/set_laser '{data: false}' # Turn off ``` - Turn on/off fans ```bash rosservice call /camera/set_fan '{data: true}' # Turn on rosservice call /camera/set_fan '{data: false}' # Turn off ``` - Turn on/off LDP ```bash rosservice call /camera/set_ldp '{data: true}' rosservice call /camera/set_ldp '{data: false}' ``` - Turn on/off sensors ```bash rosservice call /camera/toggle_ir "{data: true}" rosservice call /camera/toggle_color "{data: true}" rosservice call /camera/toggle_depth "{data: true}" rosservice call /camera/toggle_uvc_camera "{data : true}" ``` - Save image ```bash rosservice call /camera/save_images "{}" ``` For dabai and dabai dcw (RGB camera is UVC protocol), run: ```bash rosservice call /camera/save_uvc_image "{}" ``` NOTE: The images are saved under ~/.ros/image and are only available when the sensor is on. - Save point cloud ```bash rosservice call /camera/save_point_cloud_xyz "{}" # xyz rosservice call /camera/save_point_cloud_xyz_rgb "{}" # xyzrgb ``` NOTE: Point cloud are only available if it is running and saved under ~/.ros/point_cloud. ### **Multiple cameras** - First, you need to enumerate the serial number of the camera, plug in the cameras, and run the following command: ```bash roslaunch astra_camera list_devices.launch ``` - **Set the parameter `device_num` to the number of cameras** - Next, go to ros_astra_camera/launch/multi_xxx.launch and change the serial number. Currently, the different cameras can only be distinguished by the serial number. ``` <launch> <!-- unique camera name--> <arg name="camera_name" default="camera"/> <!-- Hardware depth registration --> <arg name="3d_sensor" default="astra"/> <!-- stereo_s_u3, astrapro, astra --> <arg name="camera1_prefix" default="01"/> <arg name="camera2_prefix" default="02"/> <arg name="camera1_serila_number" default="AALXB1301YW"/> <arg name="camera2_serila_number" default="AD7J7230031"/> <arg name="device_num" default="2"/> <include file="$(find astra_camera)/launch/$(arg 3d_sensor).launch"> <arg name="camera_name" value="$(arg camera_name)_$(arg camera1_prefix)"/> <arg name="serial_number" value="$(arg camera1_serila_number)"/> <arg name="device_num" value="$(arg device_num)"/> </include> <include file="$(find astra_camera)/launch/$(arg 3d_sensor).launch"> <arg name="camera_name" value="$(arg camera_name)_$(arg camera2_prefix)"/> <arg name="serial_number" value="$(arg camera2_serila_number)"/> <arg name="device_num" value="$(arg device_num)"/> </include> <node pkg="tf2_ros" type="static_transform_publisher" name="camera_tf" args="0 0 0 0 0 0 camera01_link camera02_link"/> </launch> ``` - The Astra camera will use a semaphore for process synchronization. If the camera fails to start, the semaphore file may be left in the /dev/shm, causing the next start to get stuck. To prevent this issue, please run the following command before launching: ```bash rosrun astra_camera cleanup_shm_node ``` This command will clean up all semaphore files in the /dev/shm directory, ensuring that the camera will not get stuck during the next start. - Launch ``` bash roslaunch astra_camera multi_astra.launch ``` ## Use calibration camera parameter - Set camera info uri, Go to `xxx.launch` ```xml <launch> <!--...--> <arg name="ir_info_uri" default="file:///you_ir_camera_calib_path/depth_camera.yaml"/> <arg name="color_info_uri" default="file:///you_depth_camera_calib_path/rgb_camera.yaml"/> <!--...--> </launch> ``` - calibration file should like ```yaml image_width: 640 image_height: 480 # The camera name is fixed. The color camera is rgb_camera, the depth/IR camera name is ir_camera camera_name: rgb_camera camera_matrix: rows: 3 cols: 3 data: [517.301, 0, 326.785, 0, 519.291, 244.563, 0,