ROS Melodic下配置乐视深度相机

安装依赖

sudo apt install ros-$ROS_DISTRO-rgbd-launch ros-$ROS_DISTRO-libuvc ros-$ROS_DISTRO-libuvc-camera ros-$ROS_DISTRO-libuvc-ros

创建工作空间

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/

克隆代码

git clone https://github.com/orbbec/ros_astra_camera

创建udev 规则

cd ros_astra_camera
sudo ./scripts/create_udev_rules

编译源码

cd ~/catkin_ws
catkin_make

修改astra.launch的代码

nano /catkin_ws/src/ros_astra_camera/launch/astra.launch

将以下内容添加至最后的“< /launch >”前。

<node pkg="uvc_camera" type="uvc_camera_node" name="uvc_camera" output="screen"     />
<param name="width" type="int" value="320" />
<param name="height" type="int" value="240" />
<param name="fps" type="int" value="30" />
<param name="frame" type="string" value="wide_stereo" />

<param name="auto_focus" type="bool" value="False" />
<param name="focus_absolute" type="int" value="0" />
<!-- other supported params: auto_exposure, exposure_absolute, brightness, power_line_frequency -->

<param name="device" type="string" value="/dev/video2" /> 
<param name="camera_info_url" type="string" value="file://$(find uvc_camera)/example.yaml" />

添加环境变量后直接启动即可

source ~/catkin_ws/devel/setup.bash
roslaunch astra_camera astra.launch

参考：ROS部署乐视奥比中光（astra pro）摄像头