Orbbec Astra on ROS

[filipetrocadoferreir]

Hi, I would like to know if anyone was able to run OpenNI2 ROS Package with Orbbec Astra camera.

I tried but the device is not recognized.

[JaccovdS]

See the solution that I wrote here:

Mainstream OpenNI support for Orbbec cameras

@bit-pirate I tried your suggestion there and I got the simple NI viewer running with that. In the end I also got it running in ROS (could view pcl in RViz) I didn’t do any test in relation to correct depth calculations etc. So here is how I got it running. I downloaded the Linux driver from the Dropbox. I replaced the library for OpenNi2 in /usr/lib with the one in Redist folder of the download. I also added the Orbbec library to /usr/lib/OpenNi2/Driver/ (there are already a few there) and I …

[filipetrocadoferreir]

Hi, Thanks for the reply.

I tried exactly as you wrote. But it still does no recognise the device. How your pkgconfig “.pc” file looks like?

[JaccovdS]

prefix=/usr
exec_prefix=${prefix}
libdir=${exec_prefix}/lib
includedir=${prefix}/include/openni2

Name: OpenNI2
Description: A general purpose driver for all OpenNI cameras.
Version: 2.2.0.3
Cflags: -I${includedir}
Libs: -L${libdir} -lOpenNI2 -L${libdir}/OpenNI2/Drivers -lDummyDevice -lOniFile -lPS1080 -lORBBEC.so

[xaxxontech]

These instructions worked for me - thanks. Running Xubuntu 14.04 x64 with ROS Indigo – couldn’t get it to work at first but then remembered I had to add my user name to the ‘video’ group as specified in the udev rules:

$ sudo adduser [user_name] video