orbbec
Astra_Camera: Wait for device to connected
I setup the Astra Camera using the link official link. It give the message after launching the command roslaunch astra_camera astra.launch.
[INFO][1720553201.550103010]: Query device
[INFO][1720553202.009764172]: wait for device to connected.
I received these messages iteratively with different number.
The output of lsusb is
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 003: ID 04f2:b47f Chicony Electronics Co., Ltd
Bus 001 Device 012: ID 2bc5:0401
Bus 001 Device 005: ID 0489:e04e Foxconn / Hon Hai
Bus 001 Device 002: ID 05e3:0608 Genesys Logic, Inc. Hub
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
The output of lsusb -v for ID 2bc5:0401 is
Bus 001 Device 012: ID 2bc5:0401
Device Descriptor:
bLength 18
bDescriptorType 1
bcdUSB 2.00
bDeviceClass 0 (Defined at Interface level)
bDeviceSubClass 0
bDeviceProtocol 0
bMaxPacketSize0 64
idVendor 0x2bc5
idProduct 0x0401
bcdDevice 0.01
iManufacturer 1 ORBBEC
iProduct 2 ASTRA
iSerial 0
bNumConfigurations 1
Configuration Descriptor:
bLength 9
bDescriptorType 2
wTotalLength 145
bNumInterfaces 3
bConfigurationValue 1
iConfiguration 0
bmAttributes 0x80
(Bus Powered)
MaxPower 500mA
Interface Descriptor:
bLength 9
bDescriptorType 4
bInterfaceNumber 0
bAlternateSetting 0
bNumEndpoints 2
bInterfaceClass 255 Vendor Specific Class
bInterfaceSubClass 0
bInterfaceProtocol 0
iInterface 3 ORBBEC Depth Sensor
Endpoint Descriptor:
bLength 7
bDescriptorType 5
bEndpointAddress 0x81 EP 1 IN
bmAttributes 2
Transfer Type Bulk
Synch Type None
Usage Type Data
wMaxPacketSize 0x0200 1x 512 bytes
bInterval 1
Endpoint Descriptor:
bLength 7
bDescriptorType 5
bEndpointAddress 0x82 EP 2 IN
bmAttributes 2
Transfer Type Bulk
Synch Type None
Usage Type Data
wMaxPacketSize 0x0200 1x 512 bytes
bInterval 1
Interface Descriptor:
bLength 9
bDescriptorType 4
bInterfaceNumber 1
bAlternateSetting 0
bNumEndpoints 0
bInterfaceClass 1 Audio
bInterfaceSubClass 1 Control Device
bInterfaceProtocol 0
iInterface 4 ORBBEC Audio Device
AudioControl Interface Descriptor:
bLength 9
bDescriptorType 36
bDescriptorSubtype 1 (HEADER)
bcdADC 1.00
wTotalLength 43
bInCollection 1
baInterfaceNr( 0) 2
AudioControl Interface Descriptor:
bLength 12
bDescriptorType 36
bDescriptorSubtype 2 (INPUT_TERMINAL)
bTerminalID 1
wTerminalType 0x0201 Microphone
bAssocTerminal 0
bNrChannels 2
wChannelConfig 0x0003
Left Front (L)
Right Front (R)
iChannelNames 0
iTerminal 0
AudioControl Interface Descriptor:
bLength 9
bDescriptorType 36
bDescriptorSubtype 3 (OUTPUT_TERMINAL)
bTerminalID 2
wTerminalType 0x0101 USB Streaming
bAssocTerminal 0
bSourceID 3
iTerminal 0
AudioControl Interface Descriptor:
bLength 13
bDescriptorType 36
bDescriptorSubtype 6 (FEATURE_UNIT)
bUnitID 3
bSourceID 1
bControlSize 2
bmaControls( 0) 0x03
bmaControls( 0) 0x00
Mute Control
Volume Control
bmaControls( 1) 0x03
bmaControls( 1) 0x00
Mute Control
Volume Control
bmaControls( 2) 0x03
bmaControls( 2) 0x00
Mute Control
Volume Control
iFeature 0
Interface Descriptor:
bLength 9
bDescriptorType 4
bInterfaceNumber 2
bAlternateSetting 0
bNumEndpoints 0
bInterfaceClass 1 Audio
bInterfaceSubClass 2 Streaming
bInterfaceProtocol 0
iInterface 0
Interface Descriptor:
bLength 9
bDescriptorType 4
bInterfaceNumber 2
bAlternateSetting 1
bNumEndpoints 1
bInterfaceClass 1 Audio
bInterfaceSubClass 2 Streaming
bInterfaceProtocol 0
iInterface 0
AudioStreaming Interface Descriptor:
bLength 7
bDescriptorType 36
bDescriptorSubtype 1 (AS_GENERAL)
bTerminalLink 2
bDelay 1 frames
wFormatTag 1 PCM
AudioStreaming Interface Descriptor:
bLength 20
bDescriptorType 36
bDescriptorSubtype 2 (FORMAT_TYPE)
bFormatType 1 (FORMAT_TYPE_I)
bNrChannels 2
bSubframeSize 2
bBitResolution 16
bSamFreqType 4 Discrete
tSamFreq[ 0] 8000
tSamFreq[ 1] 16000
tSamFreq[ 2] 32000
tSamFreq[ 3] 48000
Endpoint Descriptor:
bLength 9
bDescriptorType 5
bEndpointAddress 0x83 EP 3 IN
bmAttributes 13
Transfer Type Isochronous
Synch Type Synchronous
Usage Type Data
wMaxPacketSize 0x00c0 1x 192 bytes
bInterval 4
bRefresh 0
bSynchAddress 0
AudioControl Endpoint Descriptor:
bLength 7
bDescriptorType 37
bDescriptorSubtype 1 (EP_GENERAL)
bmAttributes 0x01
Sampling Frequency
bLockDelayUnits 0 Undefined
wLockDelay 0 Undefined
Device Qualifier (for other device speed):
bLength 10
bDescriptorType 6
bcdUSB 2.00
bDeviceClass 0 (Defined at Interface level)
bDeviceSubClass 0
bDeviceProtocol 0
bMaxPacketSize0 64
bNumConfigurations 0
Device Status: 0x0000
(Bus Powered)
The launch file of the astra camera is astra_launch.txt
It would be very helpful if someone help me to figure out the problem.
Thank you.
Hi, I'm still experiencing the issue. Could the contributor of astra_camera please follow up on this question? @dandedrick @jian-dong @tfoote @mintar @saratrajput