ros2/ros_astra_camera

ROS wrapper for Astra camera

ros_astra_camera's Issues

does the current repository work currectly under ros2?

the environment we are using:

OS: ubuntu20.04
ROS: ros2 foxy
camera: astra pro

the package can be compiled, while the image cannot be shown normally, any idea are welcomed, thanks!

Astra depth camera doesn't seem to work at resolutions > 320x240

For whatever reason, when I try to set the astra camera use the depth camera at any resolution greater than 320x240, it doesn't produce much data. That is, the lower layers of the driver, and/or the camera itself, don't callback into the ROS layer more than once every few seconds. Something is clearly wrong there; we should debug this and/or compare it to the ROS1 driver to get a better sense of what should be happening there.

Astra Mini compatibility

This is the output of the node when connecting to an Astra Mini (Astra without an enclosure, for OEMs):

Device "2bc5/0404@1/31" found.
Warning: USB events thread - failed to set priority. This might cause loss of data...
Warning: USB events thread - failed to set priority. This might cause loss of data...
Starting color stream.
Cannot stream RGB and IR at the same time. Streaming RGB only.
Starting depth stream.

I couldn't see any depth images in Rviz because the frame id in the header was blank. Tracing this down, I found in the AstraDriver::newDepthFrameCallback, that the depth_registration_ flag is true and so it's populating the header and cam_info data with the color camera and not the depth camera.

I'm guessing this isn't the typical execution path when using a regular Astra, and so it's slightly broken.
I'm happy to help fix the issue, with some pointers on the desired behavior.

Astra driver revamp

The whole of the astra driver really needs to be revamped for ROS2. It is fairly ugly right now, doesn't follow best practices, and has a lot of code commented out. We should probably start by cleaning up the upstream orbbec driver in ROS1, then proceed to fix up the ROS2 version of it.

local_setup.bash doesn't put install/lib into LD_LIBRARY_PATH

For whatever reason, this doesn't seem to work. Maybe a line missing from CMakeLists?
I have to add it manually to get the node to launch.

repo lacks top level LICENSE file

This repo lacks a top level LICENSE file.
The sources have BSD-3 license headers, so the repo should have a matching LICENSE file.