Docker images for Orbecc depth sensors. Orbecc Astra is used in ROSbot 2, 2R and 2 PRO
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Dockerized ROS node handling communication Orbbec Astra camera. This docker is based on ROS Melodic and contain official ROS package made by Orbbec.
astra-docker contains source code and examples.
Find Astra's Bus and Device number by running lsusb.
Bus 001 Device 006: ID 2bc5:0401 Orbbec(R) ORBBEC Depth Sensor
This docker-compose.yaml is minimal example needed to display camera output in Rviz2. In order to give docker access to your display run xhost local:root.
version: "2.3"
services:
# ROS Melodic
astra:
image: husarion/astra-docker
devices:
- /dev/bus/usb/001/006
tty: true # docker run -t
command: roslaunch astra_camera astra.launch
# ROS Noetic + ROS 2 Foxy
bridge:
image: ros:foxy-ros1-bridge
environment:
- "ROS_MASTER_URI=http://astra:11311"
command: ros2 run ros1_bridge dynamic_bridge
# ROS 2 Foxy
rviz-intel:
image: husarion/rviz2-rosbot:latest
environment:
- DISPLAY
volumes:
- /tmp/.X11-unix:/tmp/.X11-unix:rw
- ./config.rviz:/root/.rviz2/default.rviz
command: ros2 run rviz2 rviz2
Content type
Image
Digest
sha256:49648e556…
Size
535.4 MB
Last updated
over 2 years ago
docker pull husarion/astra:humble-1.1.0-20240319-stable