I tried the ROS driver with the Astra S (the short range model) and it was unusably noisy. The best way I can describe the point cloud is “blizzard in a glass pyramid”. As a sanity check, I tried using the standard SDK on my mac, and it was fine (although the data was definitely not nearly as good as a short range carmine). Has anyone had success with the Astra S and the ROS driver?
Hi folks, sorry if this is not the proper place to post.
I am having some disturbing issues with the Astra sensor. It seems that
after a couple of hours of usage, the pointcloud published starts to get
distorted, as if the camera is changing its roll. You can find more details
here: https://3dclub.orbbec3d.com/t/distortion-due-to-temperature/536
Did you have any similar issues when testing it with turtlebot??
Any ideas on how to address this issue?
Your question on the Orbbec forums is likely the right place to ask. I have not observed it but our demos are not especially sensitive to small roll angles to we might not have noticed.
I am a new user of turtlebot2. I got a problem on setting up the Astra sensor.
First, I failed to set up the video stream in this tutorials . The error is “uvc_get_stream_ctrl_format_size: Invalid mode (-51)”. Is there anyone got this problem, and could you please let me know how to solve it?
Second, when I cakin_make astra_camera, there is a error “/usr/bin/ld: cannot find -lOpenNI2Orbbec”. Can you please let me know how to fix it?
I’ll note that the tutorial you’re following looks to be for the TurtleBot2 with the Kinect and thus would not be expected to work with the Astra for anything specific to the camera such as setting up video streaming.
And your compile issue looks like it warrants a separate question. Please provide enough information to reproduce your problem when you ask your question, otherwise we will just be guessing what your problem is.
Thank you very much for your quick reply. Regarding my second problem, I firstly download your released package from here. I successfully finished the first two steps. When I did “roslaunch astra_launch astra.launch”, there was a warning in the terminal.
Then, in rviz I cannot receive any data from the following topics:
/camera/rgb/camera/depth_registered/sw_registered/image_rect
/camera/rgb/camera/depth_registered/sw_registered/image_rect_raw
/camera/rgb/camera/rgb/image_raw
/camera/rgb/camera/rgb/image_rect_color
Sometimes, there will be an error shown in the terminal that “Camera calibration file /home/turtlebot/.ros/camera_info/depth_Astra_Orbbec.yaml not found.”
Regarding the PointClound2, I can receive the data from /camera/rgb/camera/depth/points, but something is not working well, like this: the status error
And, I cannot receive data from topic: /camera/rgb/camera/depth_registered/points