Welcome to AI View Depth camera repository

1. Environment setup

This course takes Ubuntu20.04+ros-foxy as an example to explain how to build an environment and use a camera in a ros2 environment.

1. Install related dependencies

Terminal input,

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sudo apt install libgflags-dev nlohmann-json3-dev libgoogle-glog-dev ros-foxy-image-transport ros-foxy-image-publisher

Here, foxy** is modified according to the actual ros2 version**. If it is galactic, just change it to galactic.

2. Compile the function package

1) Create a workspace

Take the example of creating a workspace named orbbec_ws in the ~ directory,

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mkdir orbbec_ws
cd orbbec_ws
mkdir src

2) Copy the function package to the workspace

Unzip the file, copy and paste the folder (function package) under src to the ~/orbbec_ws/src directory just created.

3) Compile

Terminal input,

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cd ~/orbbec_ws
colcon build

4) Add environment variables

Terminal input,

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echo "source ~/orbbec_ws/install/setup.bash" >> ~/.bashrc

3) Install udev rules

Terminal input,

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cd ~/orbbec_ws/src/OrbbecSDK_ROS2/orbbec_camera/scripts
sudo bash install.sh

Enter the following command to check whether the rule file is loaded successfully and the camera is bound,

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#astraproplus
ll /dev/astro_pro_plus
#gemini max
ll /dev/gemini

If the above picture appears, it means success.

4. Run the camera and view the image

Terminal input,

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#astraproplus camera launch
ros2 launch astra_camera astro_pro_plus.launch.xml
#gemini camera launch
ros2 launch astra_camera gemini.launch.xml

Enter the following command to view the topic information,

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ros2 topic list

Use the rqt_image_view tool to view the image, terminal input,

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ros2 run rqt_image_view rqt_image_view

Color image

Depth image

IR image

Select the topic in the upper left corner.

5. Run the camera and view the point cloud image

Terminal input,

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ros2 launch astra_camera gemini.launch.xml

You can see the point cloud data released by the camera in rviz, terminal input,

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rviz2

After opening rviz, set the visualization point cloud data as shown in the figure above.