The husarion-astra snap contains all the necessary software to bring the Astra cameras up.
Parameters
The snap provides the following configurable parameters (param name: default value):
driver: {...}ros: {...}The ros contains the following keys:
ros.domain-id: 0 - Sets the ROS_DOMAIN_ID environment variable for the ROS driver.ros.localhost-only: 0 - Sets the ROS_LOCALHOST_ONLY environment variable for the ROS driver.ros.transport: udp - Configures DDS transport. Options are udp, shm, builtin (or rmw_fastrtps_cpp), rmw_cyclonedds_cpp. Corresponding DDS XML files can be found in the /var/snap/husarion-depthai/common directory (custom FastDDS setups can also be created here).ros.namespace: (unset) - Namespace for all topics and transforms.The driver contains the following keys:
astra1default - Sets the camera parameters based on /var/snap/husarion-astra/common/camera-params-<VALUE>.yamldefault - Sets the FFMPEG parameters based on /var/snap/husarion-astra/common/ffmpeg-params-<VALUE>.yamlTo set the parameters, use the snap set command, e.g.,
snap set husarion-depthai driver.name=astra2 driver.camera-params=custom driver.camera-params=my-custom
Snaps are applications packaged with all their dependencies to run on all popular Linux distributions from a single build. They update automatically and roll back gracefully.
Snaps are discoverable and installable from the Snap Store, an app store with an audience of millions.
On Arch Linux, snap can be installed from the Arch User Repository (AUR). The manual build process is the Arch-supported install method for AUR packages, and you’ll need the prerequisites installed before you can install any AUR package. You can then install snap with the following:
git clone https://aur.archlinux.org/snapd.git
cd snapd
makepkg -si
Once installed, the systemd unit that manages the main snap communication socket needs to be enabled:
sudo systemctl enable --now snapd.socket
If AppArmor is enabled in your system, enable the service which loads AppArmor profiles for snaps:
sudo systemctl enable --now snapd.apparmor.service
To enable classic snap support, enter the following to create a symbolic link between /var/lib/snapd/snap and /snap:
sudo ln -s /var/lib/snapd/snap /snap
Either log out and back in again, or restart your system, to ensure snap’s paths are updated correctly.
To install husarion-astra, simply use the following command:
sudo snap install husarion-astra
Browse and find snaps from the convenience of your desktop using the snap store snap.
Interested to find out more about snaps? Want to publish your own application? Visit snapcraft.io now.