環境

ubuntu20.04
ROS noetic

手順

手順

sudo apt install libuvc-dev
cd ~/catkin_ws/src
git clone https://github.com/ros-drivers/libuvc_ros.git
git clone https://github.com/orbbec/ros_astra_camera
catkin build

roscd astra_camera
./scripts/create_udev_rules

実行

roslaunch astra_camera stereo_s.launch
rostopic echo /camera/depth/points 
> データが出力されればOK

キャリブレーション

https://github.com/orbbec/ros_astra_camera/issues/131
calibration tool
https://3dclub.orbbec3d.com/t/astra-s-intrinsic-and-extrinsic-parameters/302/2