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  • 阅读数:1583发布于2021-01-05 11:48:49

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    奥比中光Orbbec Astra Pro RGBD 3D视觉传感器在ROS(indigo和kinetic)使用说明 复制本文链接

    Orbbec Astra Pro传感器在ROS(indigo和kinetic)使用说明
    这款摄像头使用uvc输入彩色信息,需要libuvc和libuvc_ros这样才能在ROS正常使用彩色功能。
    请在下面网址,分别下载对应包:


    https://github.com/ktossell
    https://orbbec3d.com/develop/

    也可以直接下载打包好的资源:


    http://download.csdn.net/detail/zhangrelay/9705366

    首先安装驱动,依据版本选择下载驱动中合适的版本:
    图片alt
    依据下列文档说明进行安装:特别注意标出部分


    #############Note###################
    # For user with ARM based development board:
    # With CPU Structure older than Cortex A17, use OpenNI-Linux-Arm-2.3 Nofilter.tar for better performance
    ####################################
    # There are two zip files, one is for 32bit machine, the other one is for 64bit
    # We choose 64bit(x64) and make the example as follows:

    这里应为系统是Ubuntu 16.04 64bit PC选择对应64bit版本


    # To run visual samples(e.g., SimpleViewer), you will need freeglut3 header and libaries, please install:
    $ sudo apt-get install build-essential freeglut3 freeglut3-dev
    #check udev version, Orbbec Driver need libudev.so.1, if can’t find it, can make symbolic link from libudev.so.x.x,
    #which usually locate in /lib/x86_64-linux-gnu or /lib/i386-linux-gnu
    $ldconfig -p | grep libudev.so.1
    $cd /lib/x86_64-linux-gnu
    $sudo ln -s libudev.so.x.x.x libudev.so.1
    # copy tgz file to any place you want(e.g., Home)
    # unzip tgz file

    拷贝到对应文件夹并解压缩:


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

    # run install.sh to generate OpenNIDevEnvironment, which contains OpenNI development environment

    $ sudo ./install.sh

    # please replug in the device for usb-register
    # add environment variables

    $ source OpenNIDevEnvironment

    # build sample(e.g., SimpleViewer)

    $ cd Samples/SimpleViewer
    $ make

    # run sample
    # connect sensor

    $ cd Bin/x64-Release
    $ ./SimpleViewer

    # now you should be able to see a GUI window showing the depth stream video
    # If the Debian Jessie Lite is used for testing, it may require the following installation for properly start the viewer.

    $ sudo apt-get install libgl1-mesa-dri

    安装完毕后,进行功能测试:


    ~/tools/OpenNI-Linux-x64-2.3/Samples/Bin$ ls
    ClosestPointViewer MultiDepthViewer org.openni.jar
    EventBasedRead MultipleStreamRead org.openni.Samples.SimpleViewer
    libMWClosestPoint.so MWClosestPointApp org.openni.Samples.SimpleViewer.jar
    libOpenNI2.jni.so OpenNI2 SimpleRead
    libOpenNI2.so OpenNI.ini SimpleViewer

    使用./SimpleViewer和./ClosestPointViewer,注意传感器特性,深度视觉0.4-8.0米,如下:
    图片alt
    图片alt
    安装ROS功能包,以kinetic为例,indigo类似:


    ~$ sudo apt-get install ros-kinetic-astra-camera ros-kinetic-astra-launch

    完毕后,使用:


    relaybotbox@relaybotbox-desktop:~$ roslaunch astra_launch
    astra.launch device.launch pointclouds.launch
    astra_tf_prefix.launch ir.launch processing.launch
    color.launch kinect_frames.launch
    depth.launch manager.launch
    relaybotbox@relaybotbox-desktop:~$ roslaunch astra_launch astra.launch

    工作正常的话可以看到:


    ~$ roslaunch astra_launch astra.launch
    logging to /home/relaybotbox/.ros/log/26bcfad8-bcf9-11e6-bc52-00e0b4159b09/roslaunch-relaybotbox-desktop-6834.log
    Checking log directory for disk usage. This may take awhile.
    Press Ctrl-C to interrupt
    Done checking log file disk usage. Usage is <1GB. started roslaunch server http://relaybotbox-desktop:33177/ SUMMARY ======== PARAMETERS * /camera/camera_nodelet_manager/num_worker_threads: 4 * /camera/depth_rectify_depth/interpolation: 0 * /camera/driver/auto_exposure: True * /camera/driver/auto_white_balance: True * /camera/driver/color_depth_synchronization: False * /camera/driver/depth_camera_info_url: * /camera/driver/depth_frame_id: camera_depth_opti... * /camera/driver/depth_registration: False * /camera/driver/device_id: #1 * /camera/driver/rgb_camera_info_url: * /camera/driver/rgb_frame_id: camera_rgb_optica... * /rosdistro: kinetic * /rosversion: 1.12.6 NODES /camera/ camera_nodelet_manager (nodelet/nodelet) depth_metric (nodelet/nodelet) depth_metric_rect (nodelet/nodelet) depth_points (nodelet/nodelet) depth_rectify_depth (nodelet/nodelet) depth_registered_sw_metric_rect (nodelet/nodelet) driver (nodelet/nodelet) points_xyzrgb_sw_registered (nodelet/nodelet) register_depth_rgb (nodelet/nodelet) rgb_rectify_color (nodelet/nodelet) / camera_base_link (tf2_ros/static_transform_publisher) camera_base_link1 (tf2_ros/static_transform_publisher) camera_base_link2 (tf2_ros/static_transform_publisher) camera_base_link3 (tf2_ros/static_transform_publisher) auto-starting new master process[master]: started with pid [6848] ROS_MASTER_URI=http://localhost:11311 setting /run_id to 26bcfad8-bcf9-11e6-bc52-00e0b4159b09 process[rosout-1]: started with pid [6861] started core service [/rosout] process[camera/camera_nodelet_manager-2]: started with pid [6864] process[camera/driver-3]: started with pid [6865] process[camera/rgb_rectify_color-4]: started with pid [6867] process[camera/depth_rectify_depth-5]: started with pid [6878] process[camera/depth_metric_rect-6]: started with pid [6896] process[camera/depth_metric-7]: started with pid [6912] process[camera/depth_points-8]: started with pid [6920] process[camera/register_depth_rgb-9]: started with pid [6938] process[camera/points_xyzrgb_sw_registered-10]: started with pid [6949] process[camera_base_link-12]: started with pid [6970] process[camera_base_link1-13]: started with pid [6986] process[camera_base_link2-14]: started with pid [6997] process[camera_base_link3-15]: started with pid [7008] [ INFO] [1481168899.738014182]: Initializing nodelet with 4 worker threads. [ INFO] [1481168900.562120390]: Device "2bc5/0403@2/5" found. Warning: USB events thread - failed to set priority. This might cause loss of data...

    使用rqt_image_view:
    图片alt
    图片alt
    发现rgb并没有正确显示??需要UVC支持。


    编译libuvc过程如下:注意红色部分


    libuvc is a cross-platform library for USB video devices, built atop libusb.
    It enables fine-grained control over USB video devices exporting the standard USB Video Class
    (UVC) interface, enabling developers to write drivers for previously unsupported devices,
    or just access UVC devices in a generic fashion.

    Getting and Building libuvc

    Prerequisites: You will need libusb and CMake installed.


    To build, you can just run these shell commands:


    git clone https://github.com/ktossell/libuvc
    cd libuvc
    mkdir build
    cd build
    cmake ..
    make && sudo make install

    and you’re set! If you want to change the build configuration, you can edit CMakeCache.txt
    in the build directory, or use a CMake GUI to make the desired changes.


    Developing with libuvc

    The documentation for libuvc can currently be found at https://int80k.com/libuvc/doc/.

    然后编译libuvc_ros:注意红色部分


    libuvc_camera is a ROS driver that supports webcams and other UVC-standards-compliant video devices.
    It’s a cross-platform replacement for uvc_camera, a Linux-only webcam driver.

    Documentation is available on the ROS wiki: libuvc_camera.

    使用catkin_make,如果报错,注意libusb.h的位置。使用locate libusb.h,并将其放到合适位置:


    ~$ sudo cp /usr/include/libusb-1.0/libusb.h  /usr/local/include/libuvc/

    修改下libuvc.h中include中的路径。


    在启动roscore后,使用:


    ~$ rosrun libuvc_camera camera_node

    查看rgb。


    ~$ rosrun libuvc_camera camera_node
    [ INFO] [1481169521.460856223]: Opening camera with vendor=0x0, product=0x0, serial=””, index=0
    [ERROR] [1481169521.461465837]: Permission denied opening /dev/bus/usb/002/004

    出现报错,修改端口权限,重试。


    [ERROR] [1481169521.461465837]: Permission denied opening /dev/bus/usb/002/004
    relaybotbox@relaybotbox-desktop:~$ sudo chmod 777 /dev/bus/usb/002/004
    [sudo] relaybotbox 的密码:
    relaybotbox@relaybotbox-desktop:~$ rosrun libuvc_camera camera_node
    [ INFO] [1481169588.328108966]: Opening camera with vendor=0x0, product=0x0, serial=””, index=0
    unsupported descriptor subtype: 13
    unsupported descriptor subtype: 13
    [ WARN] [1481169589.131025001]: Unable to set scanning_mode to 0
    [ WARN] [1481169589.132290563]: Unable to set auto_exposure to 8
    [ WARN] [1481169589.133330942]: Unable to set auto_exposure_priority to 0
    [ WARN] [1481169589.135009273]: Unable to set exposure_absolute to 1
    [ WARN] [1481169589.136271211]: Unable to set auto_focus to 1
    [ WARN] [1481169589.137170759]: Unable to set focus_absolute to 0
    [ WARN] [1481169589.138442322]: Unable to set gain to 0
    [ WARN] [1481169589.140162069]: Unable to set iris_absolute to 0
    [ WARN] [1481169589.141553880]: Unable to set pantilt to 0, 0
    [ INFO] [1481169589.273060465]: using default calibration URL
    [ INFO] [1481169589.273198871]: camera calibration URL: file:///home/relaybotbox/.ros/camera_info/camera.yaml
    [ INFO] [1481169589.273354822]: Unable to open camera calibration file [/home/relaybotbox/.ros/camera_info/camera.yaml]
    [ WARN] [1481169589.273418390]: Camera calibration file /home/relaybotbox/.ros/camera_info/camera.yaml not found.

    使用 rqt_image_view ,查看rgb如下:
    图片alt
    同时使用也是可以的。
    图片alt
    图片alt
    安装配置完毕,可以开始使用这款视觉传感器了。

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  • 发布于2021-09-15 10:54:23

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    能否出一期Open3d的使用?谢谢

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  • 发布于2021-10-21 09:39:03

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    非常感谢

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  • 发布于2021-11-09 09:55:38

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    一键三连

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