Welcome to RDK X5 Board repository

1、Environment Setup

This section uses Ubuntu 22.04 + ROS Humble as an example to explain how to set up and use a camera in a ROS 2 environment.

1、Install Dependencies

Open a terminal and run:

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

Install the libuvc library:

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git clone https://github.com/libuvc/libuvc.git
cd libuvc
mkdir build && cd build
cmake .. && make -j4
sudo make install
sudo ldconfig # Refreshing the link library

2、 Compile

1）Create a Workspace

Using orbbec_ws as the workspace name under the ~ home directory:

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mkdir orbbec_ws
cd orbbec_ws
mkdir src

2）Copy the Package into the Workspace

Extract the source archive, then copy the folders (packages) from the src directory into ~/orbbec_ws/src.

3）Compile

Open a terminal and run:

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cd ~/orbbec_ws
colcon build

4）Add Environment Variables

Open a terminal and run:

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

3、Install udev Rules

Open a terminal and run:

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cd orbbec_ws/src/OrbbecSDK_ROS/orbbec_camera/scripts/
sudo sh install_udev_rules.sh

To verify that the rules file was loaded successfully and the camera is bound, run:

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#gemini max
ll /dev/gemini

If the output matches the screenshot above, the setup was successful.

4、Launch the Camera and View Images

Open a terminal and run:

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#gemini max camera start
ros2 launch astra_camera gemini.launch.xml

To view the available topics, run:

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ros2 topic list

To view the camera images using the rqt_image_view tool, run:

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ros2 run rqt_image_view rqt_image_view

Color image

Depth image

Infrared (IR) image

In the rqt window, select the desired topic from the drop-down in the top-left corner to display.

5、Launch the Camera and View Point Cloud

Open a terminal and run:

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ros2 launch astra_camera gemini.launch.xml

To visualize the point cloud data published by the camera, open RViz2:

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rviz2

Once RViz2 is open, configure the point cloud visualization settings as shown in the screenshots above.