Point cloud and laser scan in ROS for Astra Pro

Technical Support & Q&A
1

Hi, can anyone point me in the right direction to get Astra Pro to send point cloud or laser scan messages in ROS?

I manage to get it to display depth map and rgb image but could not find any point cloud data. Is this something that is available in GitHub - orbbec/ros_astra_camera: ROS wrapper for Astra camera or something that we need to code ourselves?

2

You should use the astra_launch ROS package.

3

I did, I have both astra_camera and astra_launch. But I can’t seem to find any point cloud data. What is the publish topic for the point cloud? I am running $ roslaunch astra_launch astrapro.launch