Welcome to ROSMASTER X3 repository

1、Depth camera usage

Raspberry Pi PI5 master needs to enter the docker container first. Orin motherboard does not need to enter, and the device number has been bound

Before driving a depth camera, it is necessary for the host to be able to recognize the Astra camera device; When entering the Docker container, you need to mount this Astra device to recognize the camera in the Docker container. The supporting host has already been built in an environment and does not require additional configuration. If it is on a new host, a rule file needs to be added. The addition method is very simple. Copy the "/etc/udev rules. d/56 orbbec-usb rules" file from the host computer to the "/etc/udev rules. d" directory in the new environment, and then restart system

1、Program Function Description

After the program runs, drive the Astra camera to obtain color RGB, depth, infrared IR image information, and depth point cloud information.

2、Program code reference path

After entering the Docker container, the source code for this function is located at,

~/yahboomcar_ros2_ws/software/library_ws/src/ros2_astra_camera/astra_camera/launch/

3、Program startup

Launch startup command

Taking starting the Astrapro camera as an example, after entering the Docker container, the terminal enters the following command：

x
ll /dev/as*

Taking the Astrapro camera as an example, after entering the Docker container, the terminal inputs the camera model,

Enter in the Docker terminal,

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ros2 launch astra_camera astra_pro.launch.xml

You can use the following command to view topics, enter in the Docker terminal,

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ros2 topic list