husarion-astra

husarion-astra brings Astra camera hardware into operation on a Linux ROS setup by packaging the software needed to drive the cameras. Published by Husarion as a Linux System Tools package under a freeware license, it is delivered as a snap for amd64 and arm64 systems.

It is intended for Linux users building robotics projects around Astra cameras and a ROS-based environment. The configurable driver group names the camera astra1 by default, and its camera-params and ffmpeg-params settings select YAML files under /var/snap/husarion-astra/common/camera-params-.yaml and /var/snap/husarion-astra/common/ffmpeg-params-.yaml. Each of those selections starts as default, but can point to another parameter configuration when a camera or video pipeline needs different values.

The ros group supplies settings to the ROS driver: ros.domain-id starts at 0 and sets ROS_DOMAIN_ID, while ros.localhost-only starts at 0 and sets ROS_LOCALHOST_ONLY. ros.transport defaults to udp and accepts udp, shm, builtin, rmw_fastrtps_cpp, or rmw_cyclonedds_cpp; matching DDS XML files are available under /var/snap/husarion-depthai/common, which also supports custom FastDDS configurations.

Users apply changes with snap set, including driver.name, driver.camera-params, and driver.ffmpeg-params. The current package revision is 43e71ab, and using it requires Linux with snapd.