#1，Install ROS.

#2，安装依赖
sudo apt install ros-$ROS_DISTRO-rgbd-launch ros-$ROS_DISTRO-libuvc ros-$ROS_DISTRO-libuvc-camera ros-$ROS_DISTRO-libuvc-ros

#3 Create a ROS Workspace(if you don't have one)

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make
source devel/setup.bash

#4 Pull the repository into your ROS workspace

cd ~/catkin_ws/src
git clone https://github.com/orbbec/ros_astra_camera

#5 Create astra udev rule

roscd astra_camera
./scripts/create_udev_rules

#6 Go to catkin workspace and compile astra_camera

cd ~/catkin_ws
catkin_make --pkg astra_camera

#7 
cd ~/catkin_ws/src
git clone https://github.com/orbbec/ros_astra_launch


#8 use astra 

roslaunch astra_launch astra.launch


#9 use astra pro (uvc rgb )

roslaunch astra_launch astrapro.launch


#10 You can use rviz or image_view to verify driver

rosrun rviz rviz
rosrun image_view image_view image:=/camera/depth/image_raw
 rosrun image_view image_view image:=/camera/rgb/image_raw

No matching device found… waiting for devices. Reason: astra_wrapper::AstraDevice::AstraDevice(const string&) @ /tmp/binarydeb/ros-kinetic-astra-camera-0.2.2/src/astra_device.cpp @ 76 : Device open failed
Could not open “2bc5/0401@3/5”: Failed to set USB interface!

SUBSYSTEM==“usb”, ATTR{idProduct}“0401”, ATTR{idVendor}“2bc5”, MODE:=“0666”, OWNER:=“root”, GROUP:=“video”, SYMLINK+=“astra”
SUBSYSTEM==“usb”, ATTR{idProduct}“0402”, ATTR{idVendor}“2bc5”, MODE:=“0666”, OWNER:=“root”, GROUP:=“video”, SYMLINK+=“astra_s”
SUBSYSTEM==“usb”, ATTR{idProduct}“0403”, ATTR{idVendor}“2bc5”, MODE:=“0666”, OWNER:=“root”, GROUP:=“video”, SYMLINK+=“astra_pro”
SUBSYSTEM==“usb”, ATTR{idProduct}“0404”, ATTR{idVendor}“2bc5”, MODE:=“0666”, OWNER:=“root”, GROUP:=“video”, SYMLINK+=“astra_mini”
SUBSYSTEM==“usb”, ATTR{idProduct}“0407”, ATTR{idVendor}“2bc5”, MODE:=“0666”, OWNER:=“root”, GROUP:=“video”, SYMLINK+=“astra_mini_s”

sudo service udev reload
sudo service udev restart