ROS Melodic使用樂視奧比中光深度攝像頭

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

sudo apt-get install ros-melodic-openni*

編譯成功後，執行：

roslaunch astra_launch astra.launch

寫入以下內容：

subsystem==

"usb"
, attr
=="0400"
, attr
=="2bc5"
, mode:
="0666"
, owner:
="root"
, group:
="video"
subsystem==
"usb"
, attr
=="0401"
, attr
=="2bc5"
, mode:
="0666"
, owner:
="root"
, group:
="video"
subsystem==
"usb"
, attr
=="0402"
, attr
=="2bc5"
, mode:
="0666"
, owner:
="root"
, group:
="video"
subsystem==
"usb"
, attr
=="0403"
, attr
=="2bc5"
, mode:
="0666"
, owner:
="root"
, group:
="video"
subsystem==
"usb"
, attr
=="0404"
, attr
=="2bc5"
, mode:
="0666"
, owner:
="root"
, group:
="video"
subsystem==
"usb"
, attr
=="0405"
, attr
=="2bc5"
, mode:
="0666"
, owner:
="root"
, group:
="video"
subsystem==
"usb"
, attr
=="0406"
, attr
=="2bc5"
, mode:
="0666"
, owner:
="root"
, group:
="video"
subsystem==
"usb"
, attr
=="0407"
, attr
=="2bc5"
, mode:
="0666"
, owner:
="root"
, group:
="video"
subsystem==
"usb"
, attr
=="0408"
, attr
=="2bc5"
, mode:
="0666"
, owner:
="root"
, group:
="video"
subsystem==
"usb"
, attr
=="0409"
, attr
=="2bc5"
, mode:
="0666"
, owner:
="root"
, group:
="video"
subsystem==
"usb"
, attr
=="040a"
, attr
=="2bc5"
, mode:
="0666"
, owner:
="root"
, group:
="video"

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

新增如下（注意把/dev/video0替換為自己的裝置號）

"uvc_camera" type=

"uvc_camera_node" name=
"uvc_camera" output=
"screen"
/>
"width" type=
"int" value=
"320"
/>
"height" type=
"int" value=
"240"
/>
"fps" type=
"int" value=
"30"
/>
"frame" type=
"string" value=
"wide_stereo"
/>
"auto_focus" type=
"bool" value=
"false"
/>
"focus_absolute" type=
"int" value=
"0"/
>
<
!-- other supported params: auto_exposure, exposure_absolute, brightness, power_line_frequency --
>
"device" type=
"string" value=
"/dev/video0"
/>
"camera_info_url" type=
"string" value=
"file://$(find uvc_camera)/example.yaml"
/>

roslaunch astra_launch astra.launch

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