本文主要记录如何在ros下使用乐视深度相机。乐视三合一体感摄像头LeTMC-520其实就是奥比中光摄像头（Orbbec Astra Pro）

系统：Ubuntu20.04

这款相机使用uvc输入彩色信息，需要使用libuvc、libuvc_ros才能在ROS上正常使用彩色功能。

1.安装libuvc

   Could not find a package configuration file provided by "libuvc" with any
  of the following names:

    libuvcConfig.cmake
    libuvc-config.cmake

  Add the installation prefix of "libuvc" to CMAKE_PREFIX_PATH or set
  "libuvc_DIR" to a directory containing one of the above files.  If "libuvc"
  provides a separate development package or SDK, be sure it has been
  installed.

git clone https://github.com/libuvc/libuvc
cd libuvc
mkdir build
cd build
cmake ..
make && sudo make install

2.安装依赖 

sudo apt install ros-noetic-libuvc-camera
sudo apt install ros-noetic-libuvc-ros  
sudo apt install ros-noetic-rgbd-launch
sudo apt install ros-noetic-usb-cam

3.编译并运行

下载功能包：链接: https://pan.baidu.com/s/1l56ksqCV9HFbfFc-Kj4vPQ 提取码: 6sf1 

①创建功能空间,并编译：

mkdir -p astra_ws/src
# 将功能包放入src
cd astra_ws
catkin_make

②安装udev rules：（目的：是将串口号重命名）

cd astra_ws/src/ros_astra_camera/scripts/
sudo chmod 777 create_udev_rules
sudo ./create_udev_rules

③运行：

roslaunch astra_camera astrapro.launch

打开rviz查看