乐视orbbec深度摄像头ROS安装详细教程以及遇到的问题

2021.08.26

环境：树莓派4B+ubuntu18.04

下载地址

https://github.com/orbbec/ros_astra_camera

https://github.com/orbbec/ros_astra_launch

`#1，Install ROS.  #2，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  #3 Create a ROS Workspace(if you don't have one)  mkdir -p ~/catkin_ws/src cd ~/catkin_ws/ catkin_make source devel/setup.bash  #4 Pull the repository into your ROS workspace  cd ~/catkin_ws/src git clone https://github.com/orbbec/ros_astra_camera  #5 Create astra udev rule  roscd astra_camera ./scripts/create_udev_rules  #6 Go to catkin workspace and compile astra_camera  cd ~/catkin_ws catkin_make --pkg astra_camera  #7  cd ~/catkin_ws/src git clone https://github.com/orbbec/ros_astra_launch   #8 use astra   roslaunch astra_launch astra.launch   #9 use astra pro (uvc rgb )  roslaunch astra_launch astrapro.launch   #10 You can use rviz or image_view to verify driver  rosrun rviz rviz rosrun image_view image_view image:=/camera/depth/image_raw  rosrun image_view image_view image:=/camera/rgb/image_raw`

各种错误

错误1，No matching device found 2bc5/0401

No matching device found… waiting for devices. Reason: astra_wrapper::AstraDevice::AstraDevice(const string&) @ /tmp/binarydeb/ros-kinetic-astra-camera-0.2.2/src/astra_device.cpp @ 76 : Device open failed
Could not open “2bc5/0401@3/5”: Failed to set USB interface!

原因是上面第5步骤的./scripts/create_udev_rules，会在 /etc/udev/rules.d/放一个规则文件56-orbbec-usb.rules

SUBSYSTEM==“usb”, ATTR{idProduct}“0401”, ATTR{idVendor}“2bc5”, MODE:=“0666”, OWNER:=“root”, GROUP:=“video”, SYMLINK+=“astra”
SUBSYSTEM==“usb”, ATTR{idProduct}“0402”, ATTR{idVendor}“2bc5”, MODE:=“0666”, OWNER:=“root”, GROUP:=“video”, SYMLINK+=“astra_s”
SUBSYSTEM==“usb”, ATTR{idProduct}“0403”, ATTR{idVendor}“2bc5”, MODE:=“0666”, OWNER:=“root”, GROUP:=“video”, SYMLINK+=“astra_pro”
SUBSYSTEM==“usb”, ATTR{idProduct}“0404”, ATTR{idVendor}“2bc5”, MODE:=“0666”, OWNER:=“root”, GROUP:=“video”, SYMLINK+=“astra_mini”
SUBSYSTEM==“usb”, ATTR{idProduct}“0407”, ATTR{idVendor}“2bc5”, MODE:=“0666”, OWNER:=“root”, GROUP:=“video”, SYMLINK+=“astra_mini_s”

然而我用的不是root用户名，所以要把OWNER内容设置为当前用户名，保存后执行下面命令，就好了。

`sudo service udev reload sudo service udev restart`

错误2：Warning: USB events thread - failed to set priority. This might cause loss of data…