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I solved it issue myself using the following commands

in src/ros_astra_camera

$ sudo cp 56-orbbec-usb.rules /etc/udev/rules.d/

$ sudo touch /etc/udev/rules.d/orbbec-usb.rules

$ sudo udevadm control  --reload -rules

unplug and replug the camera to the usb port of the pi

$ source devel/setup.bash

$ roslaunch astra_camera astra.launch

The udev rules of the astra camera has to be in the /etc/udev/rules.d/ folder with chmod +x permission