AstraPro cannot stream rgb and depth simultaneously

[liver121888]

I was trying to use AstraPro for Rtab-map, I run the following command and get the error

roslaunch astra_launch astrapromodi.launch

[ INFO] [1640876066.260598811]: device name: Orbbec Astra Pro unsupported descriptor subtype VS_COLORFORMAT attempt to claim already-claimed interface 1 [ WARN] [1640876067.178280454]: Unable to set scanning_mode to 0 [ WARN] [1640876067.179600022]: Unable to set exposure_absolute to 1 [ WARN] [1640876067.180068212]: Unable to set auto_focus to 1 [ WARN] [1640876067.181163659]: Unable to set pantilt to -648000, 127

The depth image works fine, but the RGB image does not work and the process is died.

My launch file:

  <!-- Parameters used to find the camera -->
  <param name="vendor" value="0x2bc5"/>
  <param name="product" value="0x0502"/>
  <param name="serial" value="0"/>
  <!-- If the above parameters aren't unique, choose the first match: -->
  <param name="index" value="$(arg index)"/>

  <!-- Image size and type -->
  <param name="width" value="640"/>
  <param name="height" value="480"/>
  <!-- choose whichever uncompressed format the camera supports: -->
  <param name="video_mode" value="yuyv"/> <!-- or yuyv/nv12/jpeg -->
  <param name="frame_rate" value="30"/>

  <param name="timestamp_method" value="start"/> <!-- start of frame -->
  <param name="camera_info_url" value=""/>

  <!-- <param name="auto_exposure" value="3"/> --> <!-- use aperture_priority auto exposure -->
  <!-- <param name="auto_white_balance" value="false"/> -->
  <remap from="/$(arg camera)/image_raw" to="/$(arg camera)/rgb/image_raw" />
</node>

So I found out that if I change yuyv to mjpeg, the RGB works but the depth fails.

I am sure the USB device number is right, and I try to launch a node inside the same launch file using usb_cam, but because they are on the same USB, the resource is occupied. I found that a lot of people encountered the same problem, but none of them actually solve my problem.

[izisKanjaraw]

@liver121888 hi , please can u tell me if u could fix the error cause i am facing the same

[liver121888]

Sorry, I didn't fix the error. I changed from AstraPro to RealSense 435i.