astra camera

Note: 2017-2-24

• modify the CMakefile.txt to use the correct OS name in Mac OS X

• use my modified OpenNI2 repository which ignored the shift-negative-value error and modified the os name

1) go to catkin workshop dir and compiler astra_camera

$ catkin_make --pkg astra_camera

note: astra driver provide two work method, normal and filter. with filter driver, get better quality depth data but need high-performance platform , like pc. if you work in the ARM, suggest to use normal method. you can use -DFILTER=ON / OFF to change the method.

$ catkin_make --pkg astra_camera -DFILTER=OFF

2) configure astra with turtlebot

execute the following script to (a) create astra udev rule and (b) configure astra camera with turtlebot

bash indigo-turtlebot.sh

3) run astra_camera

use astra

$ roslaunch astra_launch astra.launch

use astra pro (uvc rgb )

$ roslaunch astra_launch astrapro.launch

4) you can use rviz or image_view to verify driver

about firmware upgrade 1, only for Astra and Astra S. /*important/ 2, run on x86, x64, arm, arm64 platform, and depend on zip/unzip, awk, tail, md5sum