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astra_launch and astra_camera packages. Problems with RGB.

asked 2016-10-27 09:16:09 -0500

altella gravatar image

Hello all;

I have recently purchased an Orbbec Astra Pro sensor as a substitute for the difficult to get Asus Xtion Pro Live. I have installed astra_launch and astra_camera packages. As the sensor was not recognized, I have also run the script from the astra_camera source code in GitHub.

Now, when I run the sensor with roslaunch astra_launch astra.launch the sensor is recognized and in Rviz, I can see depth images, ir_images and pointclouds, but I do not receive RGB images. The topics corresponding to the RGB images are present, but they are not publishing anything.

Is this problem known? Any way to solve it?

I would appreciate any kind of advise or help...

Best regards,


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Just purchased a Turtlebot 2 from Clearpath Robotics. It came with the Astra sensor installed. However, I too am having trouble with RGB images as described above.

When I use image_view I do not have an rgb image available.

jljess01 gravatar image jljess01  ( 2017-01-04 15:20:47 -0500 )edit

2 Answers

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answered 2017-05-02 07:33:19 -0500

I had the same issue as astra pro is what came with my Turtlebot 2 that I ordered from Clearpath Robotics.

My setup: Ubuntu 14.04.2 LTS running ROS Indigo

The launch package that allowed me to have both depth and rgb is astra_pro.launch found here:

The help at clearpath was superb! Directions I received are as follows(You can edit the directories as you wish of course):

mkdir -p turtlebot_ws/src
cd turtlebot_ws/src
git clone --branch upstream
git clone --branch upstream
cd ..
rosdep install --from-paths src --ignore-src --rosdistro=indigo -y
source devel/setup.bash
rosrun astra_camera create_udev_rules
(you may need to reboot here)
roslaunch astra_launch astra_pro.launch
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In order for RViz to successfully subscribe to the RGB image topic, you need to take further steps to calibrate your camera, and generate a yaml file. Ive tried to document the steps here .

surfertas gravatar image surfertas  ( 2017-05-03 07:38:18 -0500 )edit

answered 2017-01-23 04:05:35 -0500

You probably bought an "Astra Pro" camera, not a regular "Astra". The Astra Pro camera doesn't have an RGB camera that's integrated with OpenNI2. Instead, it has a regular Video4Linux webcam. This means that from ROS's point of view, there are two completely separate devices: One OpenNI2 depth camera without RGB (that's launched via astra.launch), and one V4L camera (you can use the usb_cam ROS driver for this).

This is the output of an Astra Pro:

$ lsusb
Bus 001 Device 004: ID 2bc5:0403  
Bus 001 Device 003: ID 2bc5:0501  

The 2bc5:0403 device is the OpenNI2 depth camera, the 2bc5:0501 device is the regular Video4Linux/UVC RGB webcam.

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Asked: 2016-10-27 09:16:09 -0500

Seen: 4,071 times

Last updated: May 02 '17