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So I tried 3 things that significantly improved the depth/rgb alignment.

1. I just got another Orbbec Astra Pro and noticed the model name is "Astra Pro NL" while the one I have been using is just "Orbbec Astra." It turns out Orbbec's astra_camera package is meant to be compatible with the NL version (I didn't find this documented anywhere. Determined by device ID). I am now using the NL hardware.

2. I tried Orbbec's astra_launch package. It includes launch files that just call the astra_camera nodes. roslaunch astra_launch astrapro.launch

3. I changed my depth topic to /camera/depth/image_raw. Interestingly, this one seems to work much better than the "rectified" depth image (maybe my depth callibration parameters aren't valid).

So I tried 3 things that significantly improved the depth/rgb alignment.

1. I just got another Orbbec Astra Pro and noticed the model name is "Astra Pro NL" while the one I have been using is just "Orbbec Astra." "Astra Pro." It turns out Orbbec's astra_camera package is meant to be compatible with the NL version (I didn't find this documented anywhere. Determined by device ID). I am now using the NL hardware.

2. I tried Orbbec's astra_launch package. It includes launch files that just call the astra_camera nodes. roslaunch astra_launch astrapro.launch

3. I changed my depth topic to /camera/depth/image_raw. Interestingly, this one seems to work much better than the "rectified" depth image (maybe my depth callibration parameters aren't valid).

So I tried 3 things that significantly improved the depth/rgb alignment.

1. I just got another Orbbec Astra Pro and noticed the model name is "Astra Pro NL" while the one I have been using is just "Astra Pro." It turns out Orbbec's astra_camera package is meant to be compatible with the NL version (I didn't find this documented anywhere. Determined by device ID). I am now using the NL hardware.

2. I tried Orbbec's astra_launch package. It includes launch files that just call the astra_camera nodes. roslaunch astra_launch astrapro.launch

3. I changed my depth topic to /camera/depth/image_raw. Interestingly, this one seems to work much better than the "rectified" depth image (maybe my depth callibration parameters aren't valid).