Astra driver revamp #31
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…er 3,arm/arm64 use no-filter library
Ported from PCL: https://github.com/PointCloudLibrary/pcl/blob/ecd2e89e748bc1151b7fa9a384ba5e0c3ae0c26f/io/src/openni2/openni2_device.cpp#L79-L85 The old openni_camera used a property provided by the OpenNI library for this, but these have been removed in OpenNI2: https://github.com/ros-drivers/openni_camera/blob/84dec85d79075451f41c3dcf37e1b8eacbd14212/src/openni_device.cpp#L180-L183
Cannot include PS1080.h, and it's the wrong file anyway. It would be nice if the Astra defined the baseline somewhere, so we could use it here.
Both `freenect_camera` and `openni_camera` publish the topic `/camera/projector/camera_info`, but `openni2_camera` and `astra_camera` didn't. This commit fixes that. The topic is required for the disparity image to work (see ros-drivers/rgbd_launch#6). This commit is a port from the original openni_camera driver. How to test: roslaunch astra_launch astra.launch disparity_processing:=true rosrun image_view disparity_view image:=/camera/depth/disparity or: roslaunch astra_launch astra.launch depth_registration:=true disparity_registered_processing:=true rosrun image_view disparity_view image:=/camera/depth_registered/disparity
The parameters "bootorder" and "devnums" were retrieved twice: Once in the removed lines, then again immediately below. This removes the unnecessary first lines to clean up the code.
…es for Astra Mini S
fix makefile bug for platforms except x64
Add Tf prefix to Astra Pro
Conflicts: CMakeLists.txt include/astra_camera/astra_driver.h package.xml src/astra_driver.cpp
This was referenced May 7, 2021
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Hello everyone,
In my lab we need to integrate Astra Pro cameras into our workflow, so I started to work on its revamp as described in #19 .
I've merged the ROS2 repo with the latest changes in the original ROS driver.
Changes include:
Still working on
I'd love to hear your insights about it