Install Astra camera

• Homepage: https://orbbec3d.com/

Spec

Spec/Device	Astra	Astra Mini	Astra S	Astra Mini S	Astra Pro
Optimized Range	0.6 - 5.0m	0.6 - 5.0m	0.4 - 2.0m	0.35 - 1.0m	0.6 - 5.0m
RGB Image Size	HD (10FPS) VGA (30FPS) QVGA (30FPS)	HD (10FPS) VGA (30FPS) QVGA (30FPS)	HD (10FPS) VGA (30FPS) QVGA (30FPS)	HD (10FPS) VGA (30FPS) QVGA (30FPS)	HD (30FPS) VGA (30FPS) QVGA (30FPS)
Depth Image Size	VGA (30FPS) QVGA (30FPS)	VGA (30FPS) QVGA (30FPS)	VGA (30FPS) QVGA (30FPS)	VGA (30FPS) QVGA (30FPS)	VGA (30FPS) QVGA (30FPS)
Field of View	60° horiz 49.5° vert 73° diagonal		60° horiz 49.5° vert 73° diagonal		60° horiz 49.5° vert 73° diagonal

Install SDK && Try Sample

cd ~/Downloads
# this can be broken
# wget "https://www.dropbox.com/sh/p2uowlt3swdrfno/AACfEbv7ejIU-4FHy4Fyi0ZWa?dl=1" -O Tools_SDK_OpenNI.zip
sudo pip install gdown
gdown "https://drive.google.com/uc?id=0B9P1L--7Wd2vSktrZXFYMEZOWXM" -O Tools_SDK_OpenNI.zip

mkdir ~/Downloads/Tools_SDK_OpenNI
cd ~/Downloads/Tools_SDK_OpenNI

unzip ~/Downloads/Tools_SDK_OpenNI.zip

cd 2-Linux
tar zxvf OpenNI-Linux-x64-2.2-0118.tgz
cd OpenNI-Linux-x64-2.2

sudo ./install.sh

cd ~/Downloads/Tools_SDK_OpenNI/2-Linux/OpenNI-Linux-x64-2.2/Samples/Bin
./SimpleViewer  # This should open a viewer for depth image

Use Astra camera with openni2_camera ROS package

sudo apt-get install ros-$ROS_DISTRO-openni2-camera ros-$ROS_DISTRO-openni2-launch

cd ~/Downloads/Tools_SDK_OpenNI/2-Linux/OpenNI-Linux-x64-2.2/Samples/Bin

sudo cp libOpenNI2.so /usr/lib/libOpenNI2.so
sudo cp OpenNI2/Drivers/* /usr/lib/OpenNI2/Drivers/

Then, edit /usr/lib/pkgconfig/libopenni2.pc to be like below:

prefix=/usr
exec_prefix=${prefix}
libdir=${exec_prefix}/lib
includedir=${prefix}/include/openni2

Name: OpenNI2
Description: A general purpose driver for all OpenNI cameras.
Version: 2.2.0.3
Cflags: -I${includedir}
Libs: -L${libdir} -lOpenNI2 -L${libdir}/OpenNI2/Drivers -lDummyDevice -lOniFile -lORBBEC -lPS1080 -lPSLink

cd <your catkin workspace>/src
# if you do not initialize wstools
# wstool init .
wstool set ros-drivers/openni2_camera https://github.com/ros-drivers/openni2_camera.git --git -v indigo-devel -y -u

cd ros-drivers/openni2_camera
source /opt/ros/$ROS_DISTRO/setup.bash
catkin bt

source <your catkin workspace>/devel/setup.bash
roslaunch openni2_launch openni2.launch

Topics per Devices

Below are tested with roslaunch openni2_launch openni2.launch.

Topics/Device	Astra	Astra S	Astra Pro	Astra Mini S
/camera/rgb/image_raw	o	o	?	o
/camera/depth/image_raw	o	o	?	o
/camera/depth/points	o	o	?	o
/camera/depth_registered/image_raw	o	o	?	o
/camera/depth_registered/points	x	o	?	o