ROSbot Camera not showing up in UI


I just setup my new ROSbot with its own camera using the tutorial (CORE2-ROS + USB camera)
I build the code and upload it but nothing showing up in web UI (running on my PC the Chrome browser). Please help.

Also when I try this command
ls /dev/video*
I see the following as the result
ls: cannot access ‘/dev/video’: No such file or directory

Hi Amin, please tell me what version of ROSbot do you have (1.0 - described here ROSbot - autonomous robot platform | or 2.0 ROSbot 2.0 – Husarion Store ) ?

Hello, I have this one.
2.0 (ROSbot 2.0 – Husarion Store)

Hi amin,

At this moment Web UI only supports standalone USB cameras. Orbbec Astra is a specialized camera which was intended to work under ROS therefore it currently does not have Web UI support. We are however working on implementing such function in the near future.

There are two workarounds at the moment.

  1. Connenct a standalone camera to the back panel (if you have one)
  2. Start using Astra on Ubuntu.

In case of the second option you have to do a few things.

First you need to edit the udev system. You can find the manual here.

Next steps and package specifications is provided by Orbeec on Github.

In case of any problems with any of the steps, please let us know.


Thank you for the response,
I have done the first step but actually i don’t know how to run the second step.would you please give me more help

I want to stream a video with Orbbec Astra. Does it possible?

If first step have been done corectly use the command:
roslaunch astra_launch astra.launch
then run Rviz by:
And add desired components by topics or simply use image_view package to see video stream.

If it doesn’t work show me the result of lsusb. I will check if the first step was successful.


when I try "ros launch astra_launch astra. launch
I received this error.
"[astra.launch] is neither a launch file in package [astra_launch] nor is [astra_launch] a launch file name
The traceback for the exception was written to the log file

would you please help me?

this is my result of lsusb

Bus 002 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 001 Device 004: ID 10c4:ea60 Cygnal Integrated Products, Inc. CP210x UART Bridge / myAVR mySmartUSB light
Bus 001 Device 003: ID 2bc5:0401
Bus 001 Device 002: ID 05e3:0610 Genesys Logic, Inc. 4-port hub
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 003 Device 002: ID 0bda:481a Realtek Semiconductor Corp.
Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

In fact when I want to run the Gitub Code using
$ catkin_make --pkg astra_camera
I receive this error

Base path: /home/husarion/catkin_ws
Source space: /home/husarion/catkin_ws/src
Build space: /home/husarion/catkin_ws/build
Devel space: /home/husarion/catkin_ws/devel
Install space: /home/husarion/catkin_ws/install
Packages “astra_camera” not found in the workspace

Hi amin,

Result of lsusb shows that astra is connected properly.

Error you received means that you do not have astra_camera package in your src directory or it was copied with some errors.
Try to execute below commands:

cd /home/husarion/catkin_ws/src
git clone
git clone
cd /home/husarion/catkin_ws
source devel/

Then you should be able to:

roslaunch astra_launch astra.launch

and run Rviz (in new teminal):


I try to execute this command “catkin_make” and the error is

husarion@core2-ros:~/catkin_ws$ catkin_make
Base path: /home/husarion/catkin_ws
Source space: /home/husarion/catkin_ws/src
Build space: /home/husarion/catkin_ws/build
Devel space: /home/husarion/catkin_ws/devel
Install space: /home/husarion/catkin_ws/install

Running command: “make cmake_check_build_system” in “/home/husarion/catkin_ws/build”

Running command: “make -j4 -l4” in “/home/husarion/catkin_ws/build”

[ 2%] Built target astra_camera_gencfg
[ 5%] Performing update step for ‘astra_openni2’
[ 10%] Built target astra_usb_reset
[ 10%] Built target _astra_camera_generate_messages_check_deps_GetSerial
[ 16%] Built target astra_camera_generate_messages_py
[ 21%] Built target astra_camera_generate_messages_eus
[ 24%] Built target astra_camera_generate_messages_cpp
[ 27%] Built target astra_camera_generate_messages_nodejs
[ 29%] Built target astra_camera_generate_messages_lisp
[ 29%] Built target astra_camera_generate_messages
Current branch orbbec_ros is up to date.
[ 32%] Performing configure step for ‘astra_openni2’
no need to configure
[ 35%] Performing build step for ‘astra_openni2’
make[3]: warning: jobserver unavailable: using -j1. Add ‘+’ to parent make rule.
ThirdParty/PSCommon/BuildSystem/CommonDefs.mak:40: HOST_PLATFORM is Arm
…/…/BuildSystem/CommonDefs.mak:40: HOST_PLATFORM is Arm
Linux/XnLinuxUSB.cpp:40:21: fatal error: libudev.h: No such file or directory
compilation terminated.
…/…/BuildSystem/CommonCppMakefile:141: recipe for target ‘…/Bin/Intermediate/Arm-Release/libXnLib.a/XnLinuxUSB.o’ failed
make[4]: *** […/Bin/Intermediate/Arm-Release/libXnLib.a/XnLinuxUSB.o] Error 1
Makefile:131: recipe for target ‘ThirdParty/PSCommon/XnLib/Source’ failed
make[3]: *** [ThirdParty/PSCommon/XnLib/Source] Error 2
ros_astra_camera/CMakeFiles/astra_openni2.dir/build.make:110: recipe for target ‘ros_astra_camera/astra_openni2/src/astra_openni2-stamp/astra_openni2-build’ failed
make[2]: *** [ros_astra_camera/astra_openni2/src/astra_openni2-stamp/astra_openni2-build] Error 2
CMakeFiles/Makefile2:1000: recipe for target ‘ros_astra_camera/CMakeFiles/astra_openni2.dir/all’ failed
make[1]: *** [ros_astra_camera/CMakeFiles/astra_openni2.dir/all] Error 2
Makefile:138: recipe for target ‘all’ failed
make: *** [all] Error 2
Invoking “make -j4 -l4” failed

the previous problem is solved and the results is
[ 37%] Performing install step for ‘astra_openni2’
[ 40%] Completed ‘astra_openni2’
[ 48%] Built target astra_openni2
[ 72%] Built target astra_wrapper
[ 78%] Built target astra_list_devices
[ 83%] Built target astra_driver_lib
[ 89%] Built target astra_test_wrapper
[ 94%] Built target astra_camera_node
[100%] Built target astra_camera_nodelet

but when I try
roslaunch astra_launch astra.launch
I get this error:
[astra.launch] is neither a launch file in package [astra_launch] nor is [astra_launch] a launch file name
The traceback for the exception was written to the log file

Hi amin,

Did you execute the command:

source devel/

as Lukas mentioned in the previous post?

Yes and now I can execute
husarion@core2-ros:~/catkin_ws$ roslaunch astra_launch astra.launch
I get no error like:
… logging to /home/husarion/.ros/log/e62c9e50-25ee-11e8-a18d-f0038c62c6b9/roslaunch-core2-ros-8298.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

Traceback (most recent call last):
File “/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/”, line 306, in main
File “/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/”, line 268, in start
File “/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/”, line 217, in _start_infrastructure
File “/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/”, line 132, in _load_config
roslaunch_strs=self.roslaunch_strs, verbose=self.verbose)
File “/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/”, line 451, in load_config_default
loader.load(f, config, verbose=verbose)
File “/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/”, line 748, in load
self._load_launch(launch, ros_config, is_core=core, filename=filename, argv=argv, verbose=verbose)
File “/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/”, line 720, in _load_launch
self._recurse_load(ros_config, launch.childNodes, self.root_context, None, is_core, verbose)
File “/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/”, line 654, in _recurse_load
default_machine, is_core, verbose)
File “/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/”, line 684, in _recurse_load
val = self._include_tag(tag, context, ros_config, default_machine, is_core, verbose)
File “/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/”, line 95, in call
return f(*args, **kwds)
File “/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/”, line 588, in _include_tag
inc_filename = self.resolve_args(tag.attributes[‘file’].value, context)
File “/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/”, line 183, in resolve_args
return substitution_args.resolve_args(args, context=context.resolve_dict, resolve_anon=self.resolve_anon)
File “/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/”, line 370, in resolve_args
resolved = _resolve_args(resolved, context, resolve_anon, commands)
File “/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/”, line 383, in _resolve_args
resolved = commands[command](resolved, a, args, context)
File “/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/”, line 151, in _find
File “/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/”, line 197, in _find_executable
full_path = _get_executable_path(rp.get_path(args[0]), path)
File “/usr/lib/python2.7/dist-packages/rospkg/”, line 203, in get_path
raise ResourceNotFound(name, ros_paths=self._ros_paths)
ResourceNotFound: rgbd_launch
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/home/husarion/catkin_ws/src
ROS path [2]=/opt/ros/kinetic/share

After that when I execute rviz in new command the output is

husarion@core2-ros:~$ rviz
libEGL warning: DRI2: failed to authenticate
[ INFO] [1520857261.141689207]: rviz version 1.12.15
[ INFO] [1520857261.141996042]: compiled against Qt version 5.5.1
[ INFO] [1520857261.142096959]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1520857261.695615450]: Stereo is NOT SUPPORTED
[ INFO] [1520857261.695866284]: OpenGl version: 3 (GLSL 1.3).

And my rviz with noting show up

You need one more package for astra_launch to run correctly:

sudo apt-get install ros-kinetic-rgbd-launch

Rviz is not showing anything by default, you need to add manually data to visualize.
The process of adding data is explained in tutorial:
The only difference is that you will choose topic /camera/depth_registered/points

I do this but noting show up yet.
process[camera/camera_nodelet_manager-1]: started with pid [23953]
process[camera/driver-2]: started with pid [23956]
process[camera/rgb_rectify_color-3]: started with pid [23957]
process[camera/depth_rectify_depth-4]: started with pid [23959]
process[camera/depth_metric_rect-5]: started with pid [23968]
process[camera/depth_metric-6]: started with pid [23978]
process[camera/depth_points-7]: started with pid [23993]
process[camera/register_depth_rgb-8]: started with pid [24003]
process[camera/points_xyzrgb_sw_registered-9]: started with pid [24017]
process[camera/depth_registered_sw_metric_rect-10]: started with pid [24021]
[ INFO] [1520860579.313509658]: Initializing nodelet with 4 worker threads.
process[camera_base_link-11]: started with pid [24040]
process[camera_base_link1-12]: started with pid [24044]
process[camera_base_link2-13]: started with pid [24054]
process[camera_base_link3-14]: started with pid [24071]
[ INFO] [1520860579.676070351]: Device “2bc5/0401@1/3” found.
Warning: USB events thread - failed to set priority. This might cause loss of data…

This output means that astra is up and running.
Plaese execute commands:

rostopic hz /camera/depth_registered/points 


rostopic list

What output do they give?

husarion@core2-ros:~$ rostopic hz /camera/depth_registered/points
subscribed to [/camera/depth_registered/points]
average rate: 19.839
min: 0.048s max: 0.053s std dev: 0.00282s window: 3
average rate: 11.588
min: 0.048s max: 0.167s std dev: 0.04238s window: 13
average rate: 11.486
min: 0.048s max: 0.167s std dev: 0.03883s window: 25
average rate: 11.560
min: 0.048s max: 0.167s std dev: 0.03545s window: 37
average rate: 11.682
min: 0.044s max: 0.167s std dev: 0.03412s window: 49
average rate: 11.600
min: 0.044s max: 0.181s std dev: 0.03577s window: 59
average rate: 11.471
min: 0.044s max: 0.221s std dev: 0.03913s window: 71

and for the second

husarion@core2-ros:~$ rostopic list