1 How to use the Astra camera

Official website link: http://www.orbbec.com.cn/

Developer Community: https://developer.orbbec.com.cn/

Astra Camera: https://github.com/orbbec/ros_astra_camera

Normal camera: https://github.com/bosch-ros-pkg/usb_cam.git

Astra SDK： https://developer.orbbec.com.cn/download.html?id=53

Basic use of Astra SDK for Windows: https://developer.orbbec.com.cn/course_details.html?id=53

Astra SDK environment setup: https://developer.orbbec.com.cn/course_details.html?id=16

• Create astra udev rule

In the new environment, you need to execute the [create_udev_rules] file in the [scripts] folder of the [astra_camera] function package, enter the directory where the file is located, and execute the command

./create_udev_rules 

launch start command

Camera hardware structure diagram:

1.1 SDK usage - Linux

Operating environment: virtual machine or dual system

Developer Community: https://developer.orbbec.com.cn/download.html?id=53

1.1.1 dependent environment

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sudo apt-get install ros-melodic-serial ros-melodic-bfl ros-melodic-mbf-msgs ros-melodic-pointcloud-to-laserscan ros-melodic-rgbd-launch ros-melodic-libuvc-* ros-melodic-uvc-camera ros-melodic-usb-cam ros-melodic-ar-track-alvar ros-melodic-camera-calibration build-essential freeglut3 freeglut3-dev libsfml-dev

Go to the developer community to download the SDK file, that is(Astra SDK and OpenNI2 SDK, the version and system architecture must match).

Note: All searches on the Internet are for the latest version. The versions in our supporting materials include [v2.1.2], [v2.1.3], etc. The following takes [v2.1.2] as an example, other versions are similar.

1.1.2 Camera SDK&Samples

The folder name and file path may not be the same, change them according to your needs.

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tar -zxvf AstraSDK-v2.1.2-Ubuntu18.04-x86_64.tar.gz
cd AstraSDK-v2.1.2-Ubuntu18.04-x86_64/install  # Go to the install folder
sudo sh ./install.sh

The output contains the following two lines, pay attention to delete the install in the penultimate path:

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export ASTRA_SDK_INCLUDE=/home/yahboom/software/AstraSDK-v2.1.2-Ubuntu18.04-x86_64/install/include  
export ASTRA_SDK_LIB=/home/yahboom/software/AstraSDK-v2.1.2-Ubuntu18.04-x86_64/install/lib 

After deleting install:

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export ASTRA_SDK_INCLUDE=/home/yahboom/software/AstraSDK-v2.1.2-Ubuntu18.04-x86_64/include 
export ASTRA_SDK_LIB=/home/yahboom/software/AstraSDK-v2.1.2-Ubuntu18.04-x86_64/lib 

Copy the output to the end of ~/.bashrc

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gedit ~/.bashrc 
source ~/.bashrc 

The amples directory is the sample program, which needs to depend on the include and lib directories

• SFML effect demo

The bin folder is as follows:

Note: sudo ./ or ./ can be used to start the bin folder, and the files with the suffix -SFML will be displayed on the screen; the methods are similar, and other effects can be tested. If the virtual machine fails to start, please try several times, it is easier to start under the dual system.

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cd ~/AstraSDK-v2.1.2-Ubuntu18.04-x86_64/bin/
./SimpleBodyViewer-SFML    # Skeleton detection
./SimpleHandViewer-SFML    # finger following 

1.1.3 OpenNI camera test tool

Install OpenNI

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unzip OpenNI_2.3.0.55.zip 
cd OpenNI_2.3.0.55/Linux/OpenNI-Linux-x64-2.3.0.55 
chmod +x install.sh 
sudo ./install.sh 

the device to initialize the OpenNI environment

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source OpenNIDevEnvironment 

compile and run

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cd Samples/SimpleViewer 
make 
cd Bin/x64-Release 
./SimpleViewer 

1.2 AstraSDK-win

https://developer.orbbec.com.cn/download.html?id=32

1.2.1 Install the driver

After the download is complete, double-click to install it. The signs of success are as follows

1.2.2 Download SDK

After the download is complete, unzip the folder,

Enter the bin folder and double-click any file with the suffix exe to test it.

1.3 OrbbecViewer-win

https://developer.orbbec.com.cn/download.html?id=77

Unzip, enter the OrbbecViewer_v1.1.1 folder, double-click That's it.

1.4 Web monitoring

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#Raspberry Pi 5 master needs to enter docker first, please perform this step
#If running the script into docker fails, please refer to ROS2/07, Docker tutorial
~/run_docker.sh

Environment construction

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sudo apt-get install ros-melodic-async-web-server-cpp ros-melodic-web-video-server ros-melodic-usb-cam 

Start the camera

roslaunch astra_camera astraproplus.launch     # Astra 
roslaunch usb_cam usb_cam-test.launch      # USB 

<PI5 needs to open another terminal and enter the same docker container

start web_video_server

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rosrun  web_video_server  web_video_server 

Check

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View in local web browser 
http://localhost:8080/ 
It must be under the same local area network, and other devices can view it 
http://192.168.2.103:8080/ 
(192.168.2.103 is the IP address of the master) 
Note: It is recommended to use Google Chrome or mobile QQ browser, other browsers may not be able to open the image