Welcome to NUWA-HP60C 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,

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 humble, just change it to humble.

2. Compile the function package

1), copy the workspace

Unzip the file and copy ascam_ros2_ws to the root directory

2), compile

Enter the ascam_ros2_ws workspace

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cd ~/ascam_ros2_ws

Check the buil.sh file

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ls

Add running permissions

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chmod a+x build.sh

Compile

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./build.sh

When the prompt below appears, run the compilation command again until the prompt is successful

Note: If you use other architecture platforms, please open build.sh and modify it to your own architecture platform. If orbslam errors occur, you need to install orbslam related function packages first. Or remove orbslam related function packages and compile first. The supporting virtual machine does not need to be installed

3), add environment variables

Terminal input,

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echo "source ~/ascam_ros2_ws/install/setup.bash" >> ~/.bashrc

3, install udev rules

Terminal input,

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cd ~/ascam_ros2_ws/src/ascamera/scripts
sudo bash create_udev_rules.sh

If the above picture appears, it means success.

4. Modify the configuration file path

Check the location of the configuration file

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cd ~/ascam_ros2_ws/src/ascamera/configurationfiles
pwd

Modify the launch file

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cd ~/ascam_ros2_ws/src/ascamera/launch
gedit hp60c.launch.py

Recompile

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cd ~/ascam_ros2_ws
./build.sh

Close the terminal after compiling

5. Run the camera and view the image

Open a new terminal and enter,

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#Camera launch
ros2 launch ascamera hp60c.launch.py

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

Select the topic in the upper left corner.

6. Run the camera and view the point cloud image

Terminal input,

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ros2 launch ascamera hp60c.launch.py

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.