Astra Pro ROS 2 Launcher

ROS 2 Humble launcher workspace for Orbbec Astra Pro on Ubuntu 22.04.

This repository packages a practical local setup for bringing up an Astra Pro camera with:

• color image
• depth image
• point cloud
• RViz visualization

It is based on the legacy astra_camera driver source plus a small set of launcher scripts and RViz presets that were verified on a real machine.

中文说明

这是一个给奥比中光 Astra Pro 相机准备的 ROS 2 Humble 启动仓库。

当前仓库的目标不是做通用驱动二次开发，而是提供一套已经在实机上跑通的：

• 彩图
• 深度图
• 点云
• RViz 显示

当前方案的核心特点：

• 深度主驱动使用 astra_camera::OBCameraNodeFactory
• 点云使用 depth_image_proc point_cloud_xyz_node
• 彩色图像使用 Astra Pro 的独立 UVC 彩色相机
• 提供一键清理并重启的脚本，避免旧进程残留导致设备被占用

Features

• Verified on ROS 2 Humble
• Verified on Ubuntu 22.04
• Launch scripts for camera, RViz, and combined startup
• Clean-start script to kill stale ROS camera processes before relaunch
• RViz config for:
  • /camera/color/image_raw
  • /camera/depth/image_raw
  • /camera/depth/points

Repository Layout

.
├── src/
│   ├── astra_camera/
│   └── astra_camera_msgs/
├── astrapro_pointcloud.rviz
├── clean_and_start_astra_pro.sh
├── one_click_astra_pro.sh
├── start_astra_pro_all.sh
├── start_astra_pro_camera.sh
├── start_astra_pro_rviz.sh
└── mirror_color_image.py

Hardware

Verified USB devices:

• 2bc5:0403 Orbbec Astra Pro
• 2bc5:0501 Orbbec Astra Pro HD Camera

Environment

• OS: Ubuntu 22.04
• ROS: ROS 2 Humble
• Build tool: colcon
• RViz: rviz2

Build

Use a workspace path without spaces and without non-ASCII characters.

Example:

cd /home/koji/aobizhongguang_astraprosm_ws
source /opt/ros/humble/setup.bash
colcon build --symlink-install

Important:

• On this machine, ROS 2 interface generation failed when the workspace path contained spaces or non-ASCII characters.
• A safe build path used during validation was:
  • /home/koji/aobizhongguang_astraprosm_ws

Run

Recommended

Use the clean-start script. It kills stale camera, point cloud, and RViz processes first, then starts a fresh session.

cd "/home/koji/桌面/aobizhongguang astraprosm"
./clean_and_start_astra_pro.sh

Start camera only

cd "/home/koji/桌面/aobizhongguang astraprosm"
./start_astra_pro_camera.sh

Start RViz only

cd "/home/koji/桌面/aobizhongguang astraprosm"
./start_astra_pro_rviz.sh

Start camera and RViz together

cd "/home/koji/桌面/aobizhongguang astraprosm"
./start_astra_pro_all.sh

Published Topics

Verified topics:

• /camera/color/image_raw
• /camera/color/camera_info
• /camera/depth/image_raw
• /camera/depth/camera_info
• /camera/depth/points

Validation

source /opt/ros/humble/setup.bash
source /home/koji/aobizhongguang_astraprosm_ws/install/setup.bash

ros2 topic list | grep /camera
ros2 topic hz /camera/color/image_raw
ros2 topic hz /camera/depth/image_raw
ros2 topic hz /camera/depth/points
ros2 topic echo /camera/depth/points --once

Known Issues

1. Legacy astra_camera point cloud component

The custom point cloud components shipped in astra_camera were present in source but did not load reliably through ros2 component standalone in this workspace.

Current workaround:

• use depth_image_proc point_cloud_xyz_node

2. Stale ROS processes can break relaunch

If old component_container processes remain alive, the camera may appear busy or RViz may attach to stale graph state.

Current workaround:

• use ./clean_and_start_astra_pro.sh

3. Mirrored color image pipeline

There is a local helper script mirror_color_image.py, but the stable default RViz configuration currently uses the raw color topic:

• /camera/color/image_raw

This is intentional to keep the default path stable.

Notes For Public Users

This repository is a practical launcher workspace assembled from local testing. It prioritizes a stable bring-up flow over aggressive refactoring.

If you clone this repo on another machine, expect to adjust:

• workspace path
• udev/device permissions
• ROS dependencies
• camera USB enumeration behavior

License

This repository includes upstream driver source under src/astra_camera and src/astra_camera_msgs. Please review upstream package metadata and bundled files for their original license and redistribution terms before reusing in other distributions.