astra_ros

astra_ros is a comprehensive ROS wrapper for Orbbec's Astra SDK. It provides streams from an Orbbec RGB+D camera, along with a point cloud, body tracking (assuming you have purchased a license from Orbbec), and more.

astra_ros was initially developed for use with the Orbbec Astra Mini on Quori. Other RGB+D cameras produced by Orbbec will probably work, but haven't received the testing of the Astra Mini.

Documentation

See astra_ros's github page for documentation of ROS parameters, topics, and more.