Orbbec Astra ROS Driver

ROS driver exposing every Astra RGB+D stream in one module.

DeprecatedApache-2.0

DESCRIPTION

An open-source, ROS-compatible driver and tooling stack that unlocks the full RGB+D feature set of Orbbec's Astra sensor—publishing synchronized color, infrared, depth, point cloud, colorized body mask, skeleton-tracking, and hand-tracking streams for research and production robots.

ORGANIZATIONS

Semio AI

Lead Developer · Los Angeles, United States

Orbbec

Hardware Partner · Troy, MI, United States

Lead:Semio AI

Supporting:1 org

Category:Library

Languages:C++, Python

TECHNOLOGIES

LANGUAGES

C++Python

PLATFORMS

ROS 1Linux

SYSTEM REQUIREMENTS

Runtime

ROS Noetic or Melodic

Hardware

Orbbec Astra RGB+D camera

Dependencies

Orbbec Astra SDK, OpenNI2

KEY FEATURES

Simultaneous publication of RGB, IR, depth, and registered PointCloud2 topics.

Colorized body-mask stream aligned with depth data for segmentation.

Skeleton- and hand-tracking pipelines leveraging Orbbec middleware.

Dynamic reconfigure hooks for exposure, gain, and depth presets.

Calibration utilities for TF alignment and extrinsic refinement.

Launch files and demos for rapid integration on Quori and other robots.

TOPICS

3D VisionPerceptionDepth CamerasROS