Zheng Qu

Here is the log file. [debug_info.txt](https://github.com/orbbec/ros_astra_camera/files/1575021/debug_info.txt)

Sorry. Here it is. [~~capture.oni.tar.gz~~](https://github.com/orbbec/ros_astra_camera/files/1581954/capture.oni.tar.gz)

[capture.oni.tar.gz](https://github.com/orbbec/ros_astra_camera/files/1597054/capture.oni.tar.gz) There is no way for to check whether the recorded depth has the noise. Tell me please if there is no noise to see.

Package astra_camera and astra_launch are both at the correct path. This time I made sure the noise was there with this camera pose. Here is the recorded debug info. https://drive.google.com/file/d/14NQ6UXTiYVc9TDS_bbFUY_mobVB9nyhd/view?usp=sharing

Any update on this issue?

@ob-tim-liu Can you reproduce the issue on your side?

Sadly not. I have already tried multiple times with filter library, which does not help at all. Furthermore I think my issue is different than what was described [here](https://github.com/orbbec/ros_astra_camera/issues/7). In...

Update: I found out if I launch `astra.launch` with `depth_registration:=false`, the artifacts are gone. Can anyone reproduce it?

Sorry, I don't remember which version I was using before. But I think I tried both develop and master branch. Neither worked. And I just tested the latest develop branch....

@jihoonl Thanks for the confirmation. Is it intentional or is it still in the plan to visualize it a bit more readable? :)