I am migrating to ROS2 for the Rosbot PRO, and have come unstuck (partially) with the Astra RGDB. The current ros_astra_camera package under the 20.04 install works (and runs) as described on this other topic. The image can be obtained, but only by selecting a topic along the lines of ‘camera_optical_frame’
The issue is suitable launch files for the astra, similar to the ROS1 astra_launch package. It appears an initial problem is there are no transform frames connecting the astra optical frames to the URDF. However, there are various other arg/params set in these packages along with the nodelet manager?
Are these any available launch files for the RGBD as this stage? Or can I be pointed in a direction to link the camera into the rest of the hardware stack in ROS2?
PS: I am not worried (at this stage) about the registered images, but for now the RGB (although the former would be nice)
Thank you for any assistance.