1,git clone from https://github.com/orbbec/ros_astra_camera

2,check out 'filterlibrary' branch

3,install addition ros dependence package $./scripts/install_addition_package

1. Go to catkin workshop dir and compiler astra_camera

$ catkin_make --pkg astra_camera

note: astra driver provide two work method, normal and filter. With filter driver, get better quality depth data but need high-performance platform , like pc. If you work in the ARM, suggest to use normal method. You can use -DFILTER=ON / OFF to change the method.

$ catkin_make --pkg astra_camera -DFILTER=OFF

1. Create astra udev rule

$ roscd astra_camera && ./scripts/create_udev_rules

1. Run astra_camera (You will need to clone the launch files from https://github.com/orbbec/ros_astra_launch into your catkin src directory.)

use astra

$ roslaunch astra_launch astra.launch

use astra pro (uvc rgb )

$ roslaunch astra_launch astrapro.launch

1. You can use rviz or image_view to verify driver