Hi tfoote,

Thank you very much for your quick reply. Regarding my second problem, I firstly download your released package from [here](https://github.com/orbbec/ros_astra_camera). I successfully finished the first two steps. When I did "roslaunch astra_launch astra.launch", there was a warning in the terminal.

<img src="/uploads/ros/original/1X/2c4d8fac2363b9d72ea4939e42617e71b8baa318.png" width="690" height="438">

Then, in rviz I cannot receive any data from the following topics:
/camera/rgb/camera/depth_registered/sw_registered/image_rect
/camera/rgb/camera/depth_registered/sw_registered/image_rect_raw
/camera/rgb/camera/rgb/image_raw
/camera/rgb/camera/rgb/image_rect_color

Sometimes, there will be an error shown in the terminal that "Camera calibration file /home/turtlebot/.ros/camera_info/depth_Astra_Orbbec.yaml not found."

Regarding the PointClound2, I can receive the data from /camera/rgb/camera/depth/points, but something is not working well, like this: the status error

<img src="/uploads/ros/original/1X/05fa3c611ea10b0a682c3d3a00af2dbc25744779.png" width="655" height="500">

And, I cannot receive data from topic:  /camera/rgb/camera/depth_registered/points

There will be two warnings in terminal:
<img src="/uploads/ros/original/1X/bc769ebde71c3b42bca77f91c5388d74d28d8c60.png" width="690" height="441">

Thank you very much!






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