主要有 两个 ROS pack
apt 没有 melodic 的版本， 所以尝试从源码安装一下。
根据
的 readme.md
1. sudo apt install ros-$ROS_DISTRO-rgbd-launch ros-$ROS_DISTRO-libuvc ros-$ROS_DISTRO-libuvc-camera ros-$ROS_DISTRO-libuvc-ros
2. ss; git clone
3. 编译 astra sm --pkg=astra_camera
4. roscd astra_camera; ./scripts/create_udev_rules
使用：
roslaunch astra_camera astra.launch
或者 roslaunch astra_camera stereo_s.launch
对应的topic
点击(此处)折叠或打开
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*/image_raw: depth/rgb/ir raw images
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*/image_rect_raw: images rectified by intrinsic/extrinsic parameters
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*/camera_info: camera intrinsic/extrinsic parameters
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/camera/depth/points: point cloud without color information
- /camera/depth_registered/points: xyzrgb point cloud
点击(此处)折叠或打开
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/camera/get_device_type: return a string containing astra device type
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/camera/get_ir_exposure: get exposure value of ir camera
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/camera/get_ir_gain: get gain value of ir camera
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/camera/get_serial: get serial number
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/camera/get_uvc_exposure: get exposure value of rgb camera
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/camera/get_uvc_gain: get gain value of rgb camera
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/camera/get_uvc_white_balance: get white balance value of rgb camera
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/camera/reset_ir_exposure: reset ir exposure to default value
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/camera/reset_ir_gain: reset ir gain to default value
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/camera/set_ir_exposure: set ir exposure to specific value
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/camera/set_ir_gain: set ir gain to specific value
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/camera/set_laser: turn on (true) or turn off (false) laser
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/camera/set_uvc_exposure: set uvc exposure. (set 0 indicating auto mode)
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/camera/set_uvc_gain: set uvc gain
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/camera/set_uvc_white_balance: set uvc white balance (set 0 indicating auto mode)
- /camera/set_ir_flood: turn on (true) or turn off (false) ir flood
点击(此处)折叠或打开
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rosservice call /camera/get_ir_exposure 获取 IR 曝光
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rosservice call /camera/set_ir_exposure "{exposure: 50}"
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//开关 laser
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rosservice call /camera/set_laser "{enable: true}" #turn on
- rosservice call /camera/set_laser "{enable: false}" #turn off