本文介绍如何在ROS环境下配置与使用Orbbec Astra Pro 3D摄像头，包括驱动安装、功能包安装及调试步骤。
Orbbec Astra Pro传感器在ROS（indigo和kinetic）使用说明 rgb depth同时显示
这款摄像头使用uvc输入彩色信息，需要libuvc和libuvc_ros这样才能在ROS正常使用彩色功能。
请在下面网址，分别下载对应包：
1 https://github.com/ktossell
2 https://orbbec3d.com/develop/
也可以直接下载打包好的资源：
http://download.csdn.net/detail/zhangrelay/9705366
首先安装驱动，依据版本选择下载驱动中合适的版本：
依据下列文档说明进行安装：特别注意标出部分
#############Note###################
# For user with ARM based development board:
# With CPU Structure older than Cortex A17, use OpenNI-Linux-Arm-2.3 Nofilter.tar for better performance
####################################
# There are two zip files, one is for 32bit machine, the other one is for 64bit
# We choose 64bit(x64) and make the example as follows:
这里应为系统是Ubuntu 16.04 64bit PC选择对应64bit版本
# To run visual samples(e.g., SimpleViewer), you will need freeglut3 header and libaries, please install:
$ sudo apt-get install build-essential freeglut3 freeglut3-dev
#check udev version, Orbbec Driver need libudev.so.1, if can't find it, can make symbolic link from libudev.so.x.x,
#which usually locate in /lib/x86_64-linux-gnu or /lib/i386-linux-gnu
$ldconfig -p | grep libudev.so.1
$cd /lib/x86_64-linux-gnu
$sudo ln -s libudev.so.x.x.x libudev.so.1
# copy tgz file to any place you want(e.g., Home)
# unzip tgz file
拷贝到对应文件夹并解压缩：
$ tar zxvf OpenNI-Linux-x64-2.2-0118.tgz
$ cd OpenNI-Linux-x64-2.2
# run install.sh to generate OpenNIDevEnvironment, which contains OpenNI development environment
$ sudo ./install.sh
# please replug in the device for usb-register
# add environment variables
$ source OpenNIDevEnvironment
# build sample(e.g., SimpleViewer)
$ cd Samples/SimpleViewer
$ make
# run sample
# connect sensor
$ cd Bin/x64-Release
$ ./SimpleViewer
# now you should be able to see a GUI window showing the depth stream video
# If the Debian Jessie Lite is used for testing, it may require the following installation for properly start the viewer.
$ sudo apt-get install libgl1-mesa-dri
安装完毕后，进行功能测试：
使用./SimpleViewer和./ClosestPointViewer，注意传感器特性，深度视觉0.4-8.0米，如下：
安装ROS功能包，以kinetic为例，indigo类似：
完毕后，使用：
工作正常的话可以看到：
使用rqt_image_view：
发现rgb并没有正确显示？？需要UVC支持。
编译libuvc过程如下：注意红色部分
`libuvc` is a cross-platform library for USB video devices, built atop `libusb`.
It enables fine-grained control over USB video devices exporting the standard USB Video Class
(UVC) interface, enabling developers to write drivers for previously unsupported devices,
or just access UVC devices in a generic fashion.
## Getting and Building libuvc
Prerequisites: You will need `libusb` and [CMake](http://www.cmake.org/) installed.
To build, you can just run these shell commands:
Git clone https://github.com/ktossell/libuvc
cd libuvc
mkdir build
cd build
cmake ..
make && sudo make install
and you're set! If you want to change the build configuration, you can edit `CMakeCache.txt`
in the build directory, or use a CMake GUI to make the desired changes.
## Developing with libuvc
The documentation for `libuvc` can currently be found at https://int80k.com/libuvc/doc/.
然后编译libuvc_ros：注意红色部分
`libuvc_camera` is a ROS driver that supports webcams and other UVC-standards-compliant video devices.
It's a cross-platform replacement for `uvc_camera`, a Linux-only webcam driver.
Documentation is available on the ROS wiki: [libuvc_camera](http://wiki.ros.org/libuvc_camera).
使用catkin_make，如果报错，注意libusb.h的位置。使用locate libusb.h，并将其放到合适位置：
~$ sudo cp /usr/include/libusb-1.0/libusb.h /usr/local/include/libuvc/
修改下libuvc.h中include中的路径。
在启动roscore后，使用：
~$ rosrun libuvc_camera camera_node
查看rgb。
出现报错，修改端口权限，重试。
使用 rqt_image_view ，查看rgb如下：
同时使用也是可以的。
安装配置完毕，可以开始使用这款视觉传感器了。
上面的内容为转载内容，出处：http://blog.csdn.net/zhangrelay/article/details/53515859
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