ar_track_alvar

sudo apt-get install ros-melodic-ar-track-alvar

　　

测试

rosrun ar_track_alvar createMarker

　　

sudo apt install ros-$ROS_DISTRO-rgbd-launch ros-$ROS_DISTRO-libuvc ros-$ROS_DISTRO-libuvc-camera ros-$ROS_DISTRO-libuvc-ros

　　

git clone https://gitee.com/kay2020/ros_astra_launch.git
git clone https://gitee.com/kay2020/ros_astra_camera.git

　　

奥比中光

#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/aarch64-linux-gnu
ldconfig -p | grep libudev.so.1
cd /lib/aarch64-linux-gnu
sudo ln -s libudev.so.x.x.x libudev.so.1

　　

下载安装驱动

unzip OpenNI-Linux-Arm64-2.3.zip
cd OpenNI-Linux-Arm64-2.3
sudo chmod a+x install.sh
sudo ./install.sh
source OpenNIDevEnvironment

　　

vim /etc/udev/rules.d/orbbec-usb.rules

　　

SUBSYSTEM==“usb”, ATTR{idProduct}“0401”, ATTR{idVendor}“2bc5”, MODE:=“0666”, OWNER:=“root”, GROUP:=“video”, SYMLINK+=“astra”
SUBSYSTEM==“usb”, ATTR{idProduct}“0402”, ATTR{idVendor}“2bc5”, MODE:=“0666”, OWNER:=“root”, GROUP:=“video”, SYMLINK+=“astra_s”
SUBSYSTEM==“usb”, ATTR{idProduct}“0403”, ATTR{idVendor}“2bc5”, MODE:=“0666”, OWNER:=“root”, GROUP:=“video”, SYMLINK+=“astra_pro”
SUBSYSTEM==“usb”, ATTR{idProduct}“0404”, ATTR{idVendor}“2bc5”, MODE:=“0666”, OWNER:=“root”, GROUP:=“video”, SYMLINK+=“astra_mini”
SUBSYSTEM==“usb”, ATTR{idProduct}“0407”, ATTR{idVendor}“2bc5”, MODE:=“0666”, OWNER:=“root”, GROUP:=“video”, SYMLINK+=“astra_mini_s”

　　

sudo service udev reload
sudo service udev restart

　　

插拔相机

rosrun image_view image_view image:=/camera/depth/image_raw
rosrun image_view image_view image:=/camera/rgb/image_raw

　　

RGB图像

sudo apt-get install libv4l-dev sudo apt-get install libsdl2-dev

　　

安装

sudo apt-get install ros-melodic-uvc-camera

　　

添加代码

SUBSYSTEM=="usb", ATTR{idProduct}=="0502", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"

　　

ros_astra_launch/launch/astra.launch的最后面（前）

<node pkg="uvc_camera" type="uvc_camera_node" name="uvc_camera" output="screen"/>
<param name="width" type="int" value="320" />
<param name="height" type="int" value="240" />
<param name="fps" type="int" value="30" />
<param name="frame" type="string" value="wide_stereo" />

<param name="auto_focus" type="bool" value="False" />
<param name="focus_absolute" type="int" value="0" />
<!-- other supported params: auto_exposure, exposure_absolute, brightness, power_line_frequency -->

<param name="device" type="string" value="/dev/video2" /> 
<param name="camera_info_url" type="string" value="file://$(find uvc_camera)/example.yaml" />

　　

  <node name="rgb" pkg="usb_cam" type="usb_cam_node" output="screen" >
    <param name="video_device" value="/dev/video0" />
    <param name="image_width" value="640" />
    <param name="image_height" value="480" />
    <param name="framerate" value="30" />
    <param name="pixel_format" value="yuyv" />
    <param name="camera_frame_id" value="usb_cam" />
    <param name="io_method" value="mmap"/>
    <param name="camera_frame_id" value="camera_rgb_optical_frame"/>
    
    <!--param name="timestamp_method" value="start"/-->
     <!--param name="index" value="0"/-->
     <!--param name="camera_info_url" value=""/-->
    <!--remap from="/usb_cam/image_raw" to="/camera/rgb/image_raw"/-->
    <!--remap from="/usb_cam/image_raw/compressed" to="/camera/rgb/image_raw/compressed"/-->
  </node>

　　

roscd astra_camera
sudo sh ./scripts/create_udev_rules

　　

roslaunch astra_launch astra.launch

　　

参考

参考2