depth orbbec astra

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Table of Contents

• About
• Demostration
• How to Build
• License

🚀 About

depth orbbec astra is a package for ROS2 Jazzy that allow us to use orbbec astra 3D depth camera. This package was originally made by Orbbec so all credits to them, we only fixed the package to be compatible with jazzy as it had errors with camera parameters.

🎥 Demostration

depth.orbbec.mp4

📝 How to Build

To build the packages, follow these steps:

# Add yourself to dialout group if you haven't yet
sudo usermod -a -G dialout $USER

# Go to your workspace/src folder
cd ~/ros2_ws/src

# Clone the repository
git clone https://github.com/orbbec/OrbbecSDK_ROS2.git

# Install required packages
sudo apt install libgflags-dev nlohmann-json3-dev  \
ros-$ROS_DISTRO-image-transport  ros-${ROS_DISTRO}-image-transport-plugins ros-${ROS_DISTRO}-compressed-image-transport \
ros-$ROS_DISTRO-image-publisher ros-$ROS_DISTRO-camera-info-manager \
ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs ros-$ROS_DISTRO-statistics-msgs \
ros-$ROS_DISTRO-backward-ros libdw-dev

# Install udev rules
cd  ~/ros2_ws/src/depth_orbbec_astra/orbbec_camera/scripts
sudo bash install_udev_rules.sh
sudo udevadm control --reload-rules && sudo udevadm trigger

# Return to workspace folder
cd ~/ros2_ws

# Compile the package
colcon build --packages-select depth_maixsense_a010

# Source your workspace
source ~/ros2_ws/install/setup.bash