NVIDIA Jetson TX2 解决奥比中光 Astra pro相机的ros 打不开深度信息/camera/depth/image

背景：

NVIDIA Jetson TX2 安装奥比中光 Astra pro相机的ROS 驱动后可以打开彩色相机，
打不开深度信息，有点捉急，换了一台相机，还是如此，说明相机没问题驱动有问题。

打开奥比中光的开发者论坛：
Astra pro无法读取到深度信息，如何设置成uvc模式？
留意到：
Astra Pro相机的深度图是 openni 协议，彩色图是 uvc 协议，一下子有解决问题的思路啦。

一 . 先下载驱动
https://developer.orbbec.com.cn/download.html?id=64

下载下来是：
OpenNI_v2.3.0.85_20220615_1b09bbfd_linux_x64_release.zip 是 x64 的，NVIDIA Jetson TX2 不能用
因为NVIDIA Jetson TX2

$ arch
aarch64
$ dpkg --print-architecture
arm64

参考：Ubuntu 20.04 - 查看操作系统架构
参考：奥比中光Orbbec Astra pro 深度相机在ROS Melodic的使用安装OpenNI-Linux-Arm64-2.3.0.66 驱动
下载地址：
https://dl.orbbec3d.com/dist/openni2/OpenNI_2.3.0.66.zip

$ cd OpenNI_2.3.0.66/Linux
$ ls
OpenNI-Linux-Arm-2.3.0.66    OpenNI-Linux-x64-2.3.0.66
OpenNI-Linux-Arm64-2.3.0.66  OpenNI-Linux-x86-2.3.0.66

有符合NVIDIA Jetson TX2 的 OpenNI-Linux-Arm64-2.3.0.66

安装OpenNI

unzip OpenNI_2.3.0.66.zip
cd OpenNI_2.3.0.66/Linux/OpenNI-Linux-Arm64-2.3.0.66
chmod +x install.sh
sudo ./install.sh

重新拔插设备
初始化OpenNI环境

source OpenNIDevEnvironment

编译运行

cd Samples/SimpleViewer
make

make的时候出现问题

Viewer.h:24:10: fatal error: OpenNI.h: No such file or directory#include <OpenNI.h>^~~~~~~~~~
compilation terminated.

 sudo find / -name "OpenNI.h"
/home/wxf/newdisk/softwares/OpenNI_2.3.0.66/Linux/OpenNI-Linux-Arm64-2.3.0.66/include/OpenNI.h
/home/wxf/newdisk/softwares/OpenNI_2.3.0.66/Linux/OpenNI-Linux-x86-2.3.0.66/Include/OpenNI.h
/home/wxf/newdisk/softwares/OpenNI_2.3.0.66/Linux/OpenNI-Linux-Arm-2.3.0.66/include/OpenNI.h
/home/wxf/newdisk/softwares/OpenNI_2.3.0.66/Linux/OpenNI-Linux-x64-2.3.0.66/Include/OpenNI.h
/home/wxf/newdisk/softwares/OpenNI_2.3.0.66/Android/Sample/cpp-demos/irforopenni2/app/src/main/cpp/Include/OpenNI.h
/home/wxf/newdisk/softwares/OpenNI_2.3.0.66/Android/Sample/java-demos/irforopenni2/app/src/main/cpp/Include/OpenNI.h
/home/wxf/newdisk/softwares/OpenNI_2.3.0.66/Android/SDK/include/OpenNI.h
/home/wxf/newdisk/softwares/OpenNI_2.3.0.66/Windows/SDK/x86/Include/OpenNI.h
/home/wxf/newdisk/softwares/OpenNI_2.3.0.66/Windows/SDK/x64/Include/OpenNI.h
/home/wxf/newdisk/softwares/OpenNI_2.3.0.66/Windows/Samples/samples.old/ThirdParty/openni/Include/OpenNI.h
/home/wxf/newdisk/softwares/OpenNI_2.3.0.66/Windows/Samples/samples.old/ThirdParty/OpenNI2/Include/OpenNI.h
/home/wxf/newdisk/softwares/OpenNI_2.3.0.66/Windows/Samples/thirdparty/OpenNI2/Include/OpenNI.h

修改目录下的Makefile

INC_DIRS = /home/wxf/newdisk/softwares/OpenNI_2.3.0.66/Linux/OpenNI-Linux-Arm64-2.3.0.66/include\../../Include \../../ThirdParty/GL/ \../Common

重新编译

make -j4
cd /Bin/Arm64-Release
sudo -s
./SimpleViewer

成功说明相机的 ir 模块没有问题

二. 安装 ros 版本
下载 OpenNI_SDK_ROS_v1.0.9_20220725_0bf97f_Linux.tar.gz

同时参考乐视三合一奥比中光Orbbec Astra Pro在ROS中配置显示RGB、深度、IR图像的两种思路
ubuntu20.04 noetic 安装 Astra Pro 驱动

sudo apt-get install ros-melodic-uvc-camera

然后解压，发现目录下为 ros_astra_camera
参考NVIDIA Jetson TX2 安装 Astra相机的ros驱动源码错误总结安装运行

roslaunch astra_camera astrapro.launch

rostopic list

$ rostopic list
/camera/camera_connected
/camera/camera_disconnected
/camera/camera_nodelet_manager/bond
/camera/camera_rgb/parameter_descriptions
/camera/camera_rgb/parameter_updates
/camera/depth/camera_info
/camera/depth/image
/camera/depth/image/compressed
/camera/depth/image/compressed/parameter_descriptions
/camera/depth/image/compressed/parameter_updates
/camera/depth/image/compressedDepth
/camera/depth/image/compressedDepth/parameter_descriptions
/camera/depth/image/compressedDepth/parameter_updates
/camera/depth/image/theora
/camera/depth/image/theora/parameter_descriptions
/camera/depth/image/theora/parameter_updates
/camera/depth/image_raw
/camera/depth/image_raw/compressed
/camera/depth/image_raw/compressed/parameter_descriptions
/camera/depth/image_raw/compressed/parameter_updates
/camera/depth/image_raw/compressedDepth
/camera/depth/image_raw/compressedDepth/parameter_descriptions
/camera/depth/image_raw/compressedDepth/parameter_updates
/camera/depth/image_raw/theora
/camera/depth/image_raw/theora/parameter_descriptions
/camera/depth/image_raw/theora/parameter_updates
/camera/depth/image_rect
/camera/depth/image_rect/compressed
/camera/depth/image_rect/compressed/parameter_descriptions
/camera/depth/image_rect/compressed/parameter_updates
/camera/depth/image_rect/compressedDepth
/camera/depth/image_rect/compressedDepth/parameter_descriptions
/camera/depth/image_rect/compressedDepth/parameter_updates
/camera/depth/image_rect/theora
/camera/depth/image_rect/theora/parameter_descriptions
/camera/depth/image_rect/theora/parameter_updates
/camera/depth/image_rect_raw
/camera/depth/image_rect_raw/compressed
/camera/depth/image_rect_raw/compressed/parameter_descriptions
/camera/depth/image_rect_raw/compressed/parameter_updates
/camera/depth/image_rect_raw/compressedDepth
/camera/depth/image_rect_raw/compressedDepth/parameter_descriptions
/camera/depth/image_rect_raw/compressedDepth/parameter_updates
/camera/depth/image_rect_raw/theora
/camera/depth/image_rect_raw/theora/parameter_descriptions
/camera/depth/image_rect_raw/theora/parameter_updates
/camera/depth/points
/camera/depth_rectify_depth/parameter_descriptions
/camera/depth_rectify_depth/parameter_updates
/camera/depth_registered/camera_info
/camera/depth_registered/hw_registered/image_rect
/camera/depth_registered/hw_registered/image_rect/compressed
/camera/depth_registered/hw_registered/image_rect/compressed/parameter_descriptions
/camera/depth_registered/hw_registered/image_rect/compressed/parameter_updates
/camera/depth_registered/hw_registered/image_rect/compressedDepth
/camera/depth_registered/hw_registered/image_rect/compressedDepth/parameter_descriptions
/camera/depth_registered/hw_registered/image_rect/compressedDepth/parameter_updates
/camera/depth_registered/hw_registered/image_rect/theora
/camera/depth_registered/hw_registered/image_rect/theora/parameter_descriptions
/camera/depth_registered/hw_registered/image_rect/theora/parameter_updates
/camera/depth_registered/hw_registered/image_rect_raw
/camera/depth_registered/hw_registered/image_rect_raw/compressed
/camera/depth_registered/hw_registered/image_rect_raw/compressed/parameter_descriptions
/camera/depth_registered/hw_registered/image_rect_raw/compressed/parameter_updates
/camera/depth_registered/hw_registered/image_rect_raw/compressedDepth
/camera/depth_registered/hw_registered/image_rect_raw/compressedDepth/parameter_descriptions
/camera/depth_registered/hw_registered/image_rect_raw/compressedDepth/parameter_updates
/camera/depth_registered/hw_registered/image_rect_raw/theora
/camera/depth_registered/hw_registered/image_rect_raw/theora/parameter_descriptions
/camera/depth_registered/hw_registered/image_rect_raw/theora/parameter_updates
/camera/depth_registered/image
/camera/depth_registered/image/compressed
/camera/depth_registered/image/compressed/parameter_descriptions
/camera/depth_registered/image/compressed/parameter_updates
/camera/depth_registered/image/compressedDepth
/camera/depth_registered/image/compressedDepth/parameter_descriptions
/camera/depth_registered/image/compressedDepth/parameter_updates
/camera/depth_registered/image/theora
/camera/depth_registered/image/theora/parameter_descriptions
/camera/depth_registered/image/theora/parameter_updates
/camera/depth_registered/image_raw
/camera/depth_registered/image_raw/compressed
/camera/depth_registered/image_raw/compressed/parameter_descriptions
/camera/depth_registered/image_raw/compressed/parameter_updates
/camera/depth_registered/image_raw/compressedDepth
/camera/depth_registered/image_raw/compressedDepth/parameter_descriptions
/camera/depth_registered/image_raw/compressedDepth/parameter_updates
/camera/depth_registered/image_raw/theora
/camera/depth_registered/image_raw/theora/parameter_descriptions
/camera/depth_registered/image_raw/theora/parameter_updates
/camera/depth_registered/points
/camera/depth_registered_rectify_depth/parameter_descriptions
/camera/depth_registered_rectify_depth/parameter_updates
/camera/driver/parameter_descriptions
/camera/driver/parameter_updates
/camera/ir/camera_info
/camera/ir/image
/camera/ir/image/compressed
/camera/ir/image/compressed/parameter_descriptions
/camera/ir/image/compressed/parameter_updates
/camera/ir/image/compressedDepth
/camera/ir/image/compressedDepth/parameter_descriptions
/camera/ir/image/compressedDepth/parameter_updates
/camera/ir/image/theora
/camera/ir/image/theora/parameter_descriptions
/camera/ir/image/theora/parameter_updates
/camera/projector/camera_info
/camera/rgb/camera_info
/camera/rgb/image_raw
/camera/rgb/image_raw/compressed
/camera/rgb/image_raw/compressed/parameter_descriptions
/camera/rgb/image_raw/compressed/parameter_updates
/camera/rgb/image_raw/compressedDepth
/camera/rgb/image_raw/compressedDepth/parameter_descriptions
/camera/rgb/image_raw/compressedDepth/parameter_updates
/camera/rgb/image_raw/theora
/camera/rgb/image_raw/theora/parameter_descriptions
/camera/rgb/image_raw/theora/parameter_updates
/camera/rgb/image_rect_color
/camera/rgb/image_rect_color/compressed
/camera/rgb/image_rect_color/compressed/parameter_descriptions
/camera/rgb/image_rect_color/compressed/parameter_updates
/camera/rgb/image_rect_color/compressedDepth
/camera/rgb/image_rect_color/compressedDepth/parameter_descriptions
/camera/rgb/image_rect_color/compressedDepth/parameter_updates
/camera/rgb/image_rect_color/theora
/camera/rgb/image_rect_color/theora/parameter_descriptions
/camera/rgb/image_rect_color/theora/parameter_updates
/camera/rgb_rectify_color/parameter_descriptions
/camera/rgb_rectify_color/parameter_updates
/rosout
/rosout_agg
/tf_static

如果还有问题，更新软件包：

sudo apt-get update
sudo apt-get upgrade
sudo apt-get dist-upgrade

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