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ROS2 wrapper for older astra camera models such as first generation astra, astra mini and astra pro

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Astra Packages

Astra packages for astra legacy (first generation) cameras in AMD64 and ARM64 systems with ROS2 Humble.

Usage with docker compose

Add the following snippet under services to any compose.yaml file to add this container.

  astra_legacy:
    image: ghcr.io/airesearchlab/astra_legacy:humble
    command: ros2 launch astra_camera astra_pro.launch.py
    restart: unless-stopped
    privileged: true
    network_mode: host
    volumes:
      - /dev:/dev

Usage with Docker

Setup for pulling container from ghcr.io

Clone this reposiotory

git clone https://github.com/AIResearchLab/astra_legacy_ros.git

Pull the Docker image and start compose (No need to run docker compose build)

cd src/astra_legacy_ros/docker
docker compose pull
docker compose up

Setup for building the container on device

Clone this reposiotory

git clone https://github.com/AIResearchLab/astra_legacy_ros.git

Build the Docker image and start compose

cd src/astra_legacy_ros/docker
docker compose -f compose-build.yaml build
docker compose -f compose-build.yaml up

Environment configuration

ROS2 environment configuration

Please refer to the official ROS 2 Humble installation guide for ubuntu 22.04

Install binary dependencies

Install binary dependencies

sudo apt install libgflags-dev nlohmann-json3-dev ros-$ROS_DISTRO-image-transport ros-$ROS_DISTRO-image-publisher ros-$ROS_DISTRO-camera-info-manager

Install other dependencies

Better to create a folder named SDK in ubuntu home folder to keep following,

mkdir -p ~/SDK
cd ~/SDK

Install glog

wget -c https://github.com/google/glog/archive/refs/tags/v0.6.0.tar.gz  -O glog-0.6.0.tar.gz
tar -xzvf glog-0.6.0.tar.gz
cd glog-0.6.0
mkdir build && cd build
cmake .. && make -j4
sudo make install
sudo ldconfig  # Refreshing the link library
cd ~/SDK

Install magic_enum

wget -c https://github.com/Neargye/magic_enum/archive/refs/tags/v0.8.0.tar.gz -O  magic_enum-0.8.0.tar.gz

tar -xzvf magic_enum-0.8.0.tar.gz
cd magic_enum-0.8.0
mkdir build && cd build
cmake .. && make -j4
sudo make install
sudo ldconfig # Refreshing the link library
cd ~/SDK

Install libuvc

git clone https://github.com/libuvc/libuvc.git
cd libuvc
mkdir build && cd build
cmake .. && make -j4
sudo make install
sudo ldconfig # Refreshing the link library
cd ~/SDK

Cloning the repository

Create a new ros2 workspace or navigate to existing workspace

mkdir -p ~/workspace/src
cd ~/workspace/src

Clone the camera package into the ros2 workspace

git clone https://github.com/AIResearchLab/astra_legacy_ros.git

Setting up libusb rules

Install libusb rules

cd ~/workspace/src/astra_legacy_ros/astra_camera/scripts
sudo bash install.sh
sudo udevadm control --reload-rules && sudo udevadm trigger

Compiling

cd ~/workspace/src
colcon build --event-handlers  console_direct+  --cmake-args  -DCMAKE_BUILD_TYPE=Release

Starting the camera

In terminal 1

source ./install/setup.bash 
ros2 launch astra_camera astra_pro.launch.py

In terminal 2

source ./install/setup.bash 
rviz2 -d src/astra_legacy_ros/astra_camera/rviz/pointcloud.rviz

Additional information for troubleshooting and advance configuration

● List topics / services/ parameters (open a new terminal)

ros2 topic list
ros2 service list
ros2 param list

● Check extrinsic parameters for depth to color

 ros2 topic echo --qos-durability=transient_local /camera/extrinsic/depth_to_color  --qos-profile=services_default

● Get camera parameters

ros2 service call /camera/get_camera_info astra_camera_msgs/srv/GetCameraInfo '{}'

● Check camera parameters, please refer to the ROS documentation for the meaning of the specific fields of the camera parameters camera info

ros2 topic echo /camera/depth/camera_info
ros2 topic echo /camera/color/camera_info

● Check device information

ros2 service call /camera/get_device_info astra_camera_msgs/srv/GetDeviceInfo '{}'

● Get the SDK version

ros2 service call /camera/get_sdk_version  astra_camera_msgs/srv/GetString "{}"

● Set/get (auto) exposure

 # Auto exposure switch. For setting the exposure manually, please turn off the auto exposure first
 ros2 service call /camera/set_color_auto_exposure std_srvs/srv/SetBool '{data: false}' 
 ros2 service call /camera/set_uvc_auto_exposure std_srvs/srv/SetBool '{data: false}'
 ros2 service call /camera/set_ir_auto_exposure std_srvs/srv/SetBool "{data: false}"
    
# Setting exposure values
ros2 service call /camera/set_ir_exposure astra_camera_msgs/srv/SetInt32 "{data: 2000}"
ros2 service call /camera/set_color_exposure astra_camera_msgs/srv/SetInt32 "{data: 2000}"
ros2 service call /camera/set_uvc_exposure astra_camera_msgs/srv/SetInt32 "{data: 2000}"
 # Get exposure
 ros2 service call /camera/get_ir_exposure astra_camera_msgs/srv/GetInt32 "{}"
 ros2 service call /camera/get_color_exposure astra_camera_msgs/srv/GetInt32 "{}"
 ros2 service call /camera/get_uvc_exposure astra_camera_msgs/srv/GetInt32 "{}"

● Set/get gain

# Get Gain
ros2 service call /camera/get_color_gain astra_camera_msgs/srv/GetInt32 '{}' # OpenNI camera
ros2 service call /camera/get_ir_gain astra_camera_msgs/srv/GetInt32 '{}' # OpenNI camera
ros2 service call /camera/get_uvc_gain astra_camera_msgs/srv/GetInt32 "{}" # UVC camera
 # Setting the gain
ros2 service call /camera/set_color_gain astra_camera_msgs/srv/SetInt32 "{data: 200}"
ros2 service call /camera/set_ir_gain astra_camera_msgs/srv/SetInt32 "{data: 200}"
ros2 service call /camera/set_uvc_gain astra_camera_msgs/srv/SetInt32 "{data: 200}"

● Set mirror mode

ros2 service call /camera/set_color_mirror std_srvs/srv/SetBool '{data: true}'
ros2 service call /camera/set_ir_mirror std_srvs/srv/SetBool '{data: true}'
ros2 service call /camera/set_depth_mirror std_srvs/srv/SetBool '{data: true}'
ros2 service call /camera/set_uvc_color_mirror std_srvs/srv/SetBool '{data: true}'

● Set/get (auto) white balance

ros2 service call /camera/get_color_auto_white_balance astra_camera_msgs/srv/GetInt32 '{}' # Return 0 or 1
ros2 service call /camera/set_color_auto_white_balance std_srvs/srv/SetBool '{data: false}'

● Turn on/off laser

ros2 service call /camera/set_laser_enable std_srvs/srv/SetBool '{data: true}' # Turn on
ros2 service call /camera/set_laser_enable std_srvs/srv/SetBool '{data: false}' #Turn off

● Turn on/off fan

 ros2 service call /camera/set_fan_mode std_srvs/srv/SetBool '{data: true}' #Turn on
 ros2 service call /camera/set_fan_mode std_srvs/srv/SetBool '{data: false}' # Turn off

● Turn LDP on/off

ros2 service call /camera/set_ldp_enable std_srvs/srv/SetBool '{data: true}'
ros2 service call /camera/set_ldp_enable std_srvs/srv/SetBool '{data: false}'

● Turn sensors on/off

ros2 service call  /camera/toggle_ir std_srvs/srv/SetBool "{data: true}"
ros2 service call  /camera/toggle_color std_srvs/srv/SetBool "{data: true}"
ros2 service call  /camera/toggle_depth std_srvs/srv/SetBool "{data: true}"
ros2 service call /camera/toggle_uvc_camera std_srvs/srv/SetBool "{data : true}"

Multi-Camera

● First, get the serial number of the camera, plug in the camera and run

ros2 run astra_camera list_devices_node

● In the multi-camera launch file, please change to the current connected cameras' serial number

● Launch

ros2 launch astra_camera multi_astra_mini.launch.py

Configuration file description

# Parameter setting template
camera_name : "camera" # # Camera name (unique)
color_width: 640 # RGB Wide
color_height: 480 # RGB High
color_fps: 30 # RGB frame rate
enable_color: true #  RGB switches

# IR camera width/height/FPS
ir_width: 640 
ir_height: 480
ir_fps: 30
enable_ir: false
# depth camera width/height/FPS
depth_width: 640
depth_height: 480
depth_fps: 30
enable_depth: true

# open depth to color alignment （hardware registration）
depth_align: false
# Device serial number, required for multiple cameras
serial_number: ""
number_of_devices: 1
# UVC camera , only for dabai , dabai DCW
uvc_camera.enable: false
uvc_camera.format: "mjpeg"
uvc_camera.vid: 0x0
uvc_camera.pid: 0x0
# Retry count when opening camera failed
uvc_camera.retry_count: 100
# Different resolution alignment requires clipping and zooming, so ROI may need to be set
color_roi.x : -1 # Top left x
color_roi.y : -1 # Top left x
color_roi.width: -1
color_roi.height: -1
depth_roi.x : -1
depth_roi.y : -1
depth_roi.width: -1
depth_roi.height: -1
# depth scales 
depth_scale : 1
publish_tf: true
tf_publish_rate: 10.0
reconnect_timeout: 6.0

● dabai Depth 640x400 aligned to color 640x480, the color needs to be cropped

color_roi.x : 0
color_roi.y : 0
color_roi.width: 640
color_roi.height: 400

● astra_mini Depth 320x240 aligned to color 640x480 requires depth scale change

depth_scale : 2

● After changing the configuration file, you need to run colcon build to update it under install, because the ROS2 environment is found under install, not in the source code. ● Alignment must be turned on to produce colorized point clouds

Self-booting

For the start-up script, edit ros2_astra_camera_start.sh and add the following

ROS_DISTRO=galactic
export ROS_DOMAIN_ID=42
export ROS_LOCALHOST_ONLY=1
export CYCLONEDDS_URI=file:///etc/cyclonedds/config.xml # The cyclonedds configuration file, which can be left out if not available
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp # Optional: rmw_cyclonedds_cpp / rmw_fastrtps_cpp

ENVFILE=/home/orbbec/ros2_ws/install/setup.bash #  The environment of ros2_astra_camera

if [ -f ${ENVFILE} ] ; then
  echo "Loading astra camera env..."
  source /opt/ros/${ROS_DISTRO}/setup.bash
  source ${ENVFILE}
  ros2 launch astra_camera dabai_dcw.launch.py # Dabai DCW as an example
else
  echo "ros astra camera ws not found"
fi

For the systemd script, edit ros2_astra_camera.service and add the following

[Unit]
Description=orbbec astra device ROS wrapper
After=local-fs.target
ConditionPathExists=/home/orbbec/ros2_ws/install/setup.bash # The environment of ros2_astra_camera

[Service]
Type=simple
User=toosimple
EnvironmentFile=
ExecStart=/home/orbbec/ros2_ws/ros2_astra_camera_start.sh # Where to put the startup script
ExecStop=/bin/kill ${MAINPID}
Restart=on-failure
StartLimitInterval=60
StartLimitBurst=3
KillMode=mixed

[Install]
WantedBy=multi-user.target

Copy ros2_astra_camera.service to the system

sudo cp ros2_astra_camera.service /etc/systemd/system

Enable ros2_astra_camera.service

sudo systemctl enable ros2_astra_camera.service

Manual start

sudo systemctl start ros2_astra_camera.service

Check status

sudo systemctl status ros2_astra_camera.service

View log

journalctl -u ros2_astra_camera.service

Disable ros2_astra_camera.service

sudo systemctl disable ros2_astra_camera.service

Delete ros2_astra_camera.service (please be careful when entering commands)

sudo rm /etc/systemd/system/ros2_astra_camera.service

DDS Tuning

The default DDS settings (Galactic) may not be efficient for data transmission. Different DDS settings will have different performance. Here we take CycloneDDS as an example. For detailed information, please refer toROS DDS Tuning。

● Edit cyclonedds configuration file

sudo gedit /etc/cyclonedds/config.xml

Add

<?xml version="1.0" encoding="UTF-8"?>
<CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config
https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
    <Domain id="any">
        <General>
            <NetworkInterfaceAddress>lo</NetworkInterfaceAddress>
            <AllowMulticast>false</AllowMulticast>
        </General>
        <Internal>
            <MinimumSocketReceiveBufferSize>16MB</MinimumSocketReceiveBufferSize>
        </Internal>
        <Discovery>
            <ParticipantIndex>auto</ParticipantIndex>
            <MaxAutoParticipantIndex>
                30</MaxAutoParticipantIndex>
            <Peers>
                <Peer address="localhost" />
            </Peers>
        </Discovery>
    </Domain>
</CycloneDDS>

● Set the environment variables, add to .zshrc or .bashrc

export ROS_DOMAIN_ID=42 # Numbers from 0 to 232
export ROS_LOCALHOST_ONLY=1
export CYCLONEDDS_URI=file:///etc/cyclonedds/config.xml

Tip：to understand why the maximum ROS_DOMAIN_ID is 232, please visit The ROS DOMAIN ID ● Increase UDP receive buffer size Edit

/etc/sysctl.d/10-cyclone-max.conf

Add

net.core.rmem_max=2147483647
net.core.rmem_default=2147483647

Frequently Asked Questions

● No point cloud or image displayed on Rviz2

  • The default QoS for outgoing messages is sense_data, i.e. Relaiblity Policy = Best Effort, please check if the Relaiblity Policy is set to Best Effort on Rviz2, and also check if there is any problem with the QoS setting of the message via ros2 topic info -v /xxx/topic

● No picture from multiple cameras

  • It is possible that the power supply is insufficient, do not connect all cameras to the same hub, and a powered hub is recommended

  • It is also possible that the resolution is too high, try turning it lower

  • If the color camera is an UVC camera, the serial number of the UVC may not be set

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ROS2 wrapper for older astra camera models such as first generation astra, astra mini and astra pro

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