Setting Up Color Video Stream

To set up the color video stream on the Orbbec Astra pro, make a sourced workspace from the repositories below. If you’re not familiar with making your own sourced workspace in ROS, just follow these step by step instructions! If you already have a turtlebot_ws workspace, you may need to remove it before running through these instructions

$ rm -rf turtlebot_ws

Then run these commands!

$ mkdir -p turtlebot_ws/src
$ cd turtlebot_ws/src
$ catkin_init_ws
$ git clone https://github.com/clearpathrobotics/ros_astra_launch.git --branch upstream
$ git clone https://github.com/clearpathrobotics/ros_astra_camera.git --branch upstream
$ cd ..
$ rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y
$ catkin_make
$ source devel/setup.bash
$ rosrun astra_camera create_udev_rules
$ roslaunch astra_launch astra_pro.launch

That should do it! You can not open up Rviz and see color videos. Make sure to always source this workspace when opening a new terminal.