Astra Pro registered point cloud
Hi all. I am using Ubuntu 16.04 with ROS kinetic. Fresh install with upgrades for both.
I have purchased an Astra Pro unit (unknowingly that it has completely separate RGB and depth units inside.... its a shame they don't tell that before you buy one).
I have installed their driver as per instructed, with udev rules and everything. When I launch the astrapro.launch file I can see the depth point cloud and depth image in Rviz. The Astra driver does not publish a color image but I am able to watch it through the usb_cam node so it is operational. The thing is, that the astra driver has a "/camera/depth_registered/points" topic, but echoing it results in nothing. The terminal running the launch pops up the message:
[ INFO] [1544185697.502299836]: Starting depth stream. [ INFO] [1544185697.698366710]: camera calibration URL: file:///home/steve/catkin_ws/src/camera_info/depth_Astra_Orbbec.yaml
I did make a calibration file for both the rgb and the depth, put them in the default ${ROS_HOME}/camera_info/${NAME.yaml}, and added the paths to the astrapro launch file.
I have tried various launch argument combinations and solutions from the internet but with no avail. Orbbec did not answer mails as well.
Am I missing something here? Do I need a third node to match the RGB and D? All I want is to be able to view a registered pointcloud in Rviz using the Astra Pro, even if a workaround is needed. Don't care about synchronization delay.
Hope I'm not the only one having this exact problem. Thank you all in advance.