diff --git a/README.MD b/README.MD index 3fbb6a7e..d2101d9d 100644 --- a/README.MD +++ b/README.MD @@ -155,61 +155,82 @@ If you need to migrate existing projects from the main (v1.x) branch to the v2-m ## Installation Instructions -Install ROS 2 +**Environment configuration** -- Please refer to the - official [ROS 2 installation guide](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html) - guidance +Install ROS 2 according to the official guide: -> If your ROS 2 command does not auto-complete, put the following two lines into your `.bashrc` -> or `.zshrc` +* [ROS 2 installation (Ubuntu)](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html) + +Install dependencies: + +```bash +sudo apt install libgflags-dev nlohmann-json3-dev \ +ros-$ROS_DISTRO-image-transport ros-${ROS_DISTRO}-image-transport-plugins ros-${ROS_DISTRO}-compressed-image-transport \ +ros-$ROS_DISTRO-image-publisher ros-$ROS_DISTRO-camera-info-manager \ +ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs ros-$ROS_DISTRO-statistics-msgs ros-$ROS_DISTRO-xacro \ +ros-$ROS_DISTRO-backward-ros libdw-dev libssl-dev +``` + +Enable ROS 2 auto-completion: ```bash eval "$(register-python-argcomplete3 ros2)" eval "$(register-python-argcomplete3 colcon)" ``` -Create `colcon` workspace +**Linux Binary Package Installation** + +Check available packages: + +```bash +sudo apt update +apt list | grep orbbec +``` + +Install OrbbecSDK ROS2 package: + +```bash +sudo apt install ros-humble-orbbec-camera ros-humble-orbbec-description +``` + +After installation, you can use it directly without compilation. + +**Build from Source** + +Create a `colcon` workspace: ```bash mkdir -p ~/ros2_ws/src ``` -Get source code +Clone source and checkout `v2-main` branch: ```bash cd ~/ros2_ws/src git clone https://github.com/orbbec/OrbbecSDK_ROS2.git cd OrbbecSDK_ROS2 git checkout v2-main -git branch #Check whether the branch switch is successful ``` -Install deb dependencies +Build: ```bash -# assume you have sourced ROS environment, same blow -sudo apt install libgflags-dev nlohmann-json3-dev \ -ros-$ROS_DISTRO-image-transport ros-${ROS_DISTRO}-image-transport-plugins ros-${ROS_DISTRO}-compressed-image-transport \ -ros-$ROS_DISTRO-image-publisher ros-$ROS_DISTRO-camera-info-manager \ -ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs ros-$ROS_DISTRO-statistics-msgs \ -ros-$ROS_DISTRO-backward-ros libdw-dev - -# Optional dependencies: -# 435Le writeCustomerDate feature: -sudo apt install libssl-dev +cd ~/ros2_ws +colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=Release ``` -build: +## Registration Script (Required) + +To allow the Orbbec cameras to be recognized correctly on Linux, install the udev rules. + +**Binary Installation** ```bash -cd ~/ros2_ws/ -source /opt/ros/$ROS_DISTRO/setup.bash -# build release, Default is Debug -colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=Release +sudo cp /opt/ros/$ROS_DISTRO/share/orbbec_camera/udev/99-obsensor-libusb.rules /etc/udev/rules.d/ +sudo udevadm control --reload-rules && sudo udevadm trigger ``` -Install udev rules: +**Build from Source** ```bash cd ~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/scripts @@ -217,6 +238,10 @@ sudo bash install_udev_rules.sh sudo udevadm control --reload-rules && sudo udevadm trigger ``` +This step is **mandatory** for Linux users. + +`Notes:` If this script is not executed, open the device will fail due to permission issues. You need to run the sample with sudo (administrator privileges). + ## Getting start Launch camera node diff --git a/README_CN.MD b/README_CN.MD index 473bdc65..c9538a1f 100644 --- a/README_CN.MD +++ b/README_CN.MD @@ -153,49 +153,81 @@ OrbbecSDK ROS2 Wrapper 提供 Orbbec 相机与 ROS 2 环境的无缝集成，支 ## 安装说明 -安装 ROS 2 +**环境配置** -- 请参考官方 [ROS 2 安装指南](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html) +根据官方指南安装 ROS 2： -> 如果您的 ROS 2 命令无法自动补全，请将以下两行加入到 `.bashrc` 或 `.zshrc` 中 +* [ROS 2 安装指南（Ubuntu）](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html) +安装依赖项： + +```bash +sudo apt install libgflags-dev nlohmann-json3-dev \ +ros-$ROS_DISTRO-image-transport ros-${ROS_DISTRO}-image-transport-plugins ros-${ROS_DISTRO}-compressed-image-transport \ +ros-$ROS_DISTRO-image-publisher ros-$ROS_DISTRO-camera-info-manager \ +ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs ros-$ROS_DISTRO-statistics-msgs ros-$ROS_DISTRO-xacro \ +ros-$ROS_DISTRO-backward-ros libdw-dev libssl-dev ``` + +启用 ROS 2 自动补全： + +```bash eval "$(register-python-argcomplete3 ros2)" eval "$(register-python-argcomplete3 colcon)" ``` -创建 `colcon` 工作区 +**二进制安装** +查看软件包： + +```bash +sudo apt update +apt list | grep orbbec ``` + +安装 OrbbecSDK ROS2 包： + +```bash +sudo apt install ros-humble-orbbec-camera ros-humble-orbbec-description +``` + +安装完成后，直接使用即可，无需编译。 + +**从源码构建** + +创建 `colcon` 工作空间： + +```bash mkdir -p ~/ros2_ws/src ``` -获取源码 +克隆源代码并切换到 `v2-main` 分支： -``` +```bash cd ~/ros2_ws/src git clone https://github.com/orbbec/OrbbecSDK_ROS2.git cd OrbbecSDK_ROS2 git checkout v2-main -git branch #检查分支是否切换成功 ``` -安装依赖包 +构建： ```bash -# 假设您已经 source ROS 环境，下同 -sudo apt install libgflags-dev nlohmann-json3-dev \ -ros-$ROS_DISTRO-image-transport ros-${ROS_DISTRO}-image-transport-plugins ros-${ROS_DISTRO}-compressed-image-transport \ -ros-$ROS_DISTRO-image-publisher ros-$ROS_DISTRO-camera-info-manager \ -ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs ros-$ROS_DISTRO-statistics-msgs \ -ros-$ROS_DISTRO-backward-ros libdw-dev +cd ~/ros2_ws +colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=Release +``` +## 注册脚本（必需） -# 可选依赖 -# 435Le writeCustomerDate 功能需要： -sudo apt install libssl-dev +为了让 Orbbec 相机在 Linux 上被正确识别，请安装 udev 规则。 + +**二进制安装** + +```bash +sudo cp /opt/ros/$ROS_DISTRO/share/orbbec_camera/udev/99-obsensor-libusb.rules /etc/udev/rules.d/ +sudo udevadm control --reload-rules && sudo udevadm trigger ``` -安装 udev 规则 +**从源码构建** ```bash cd ~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/scripts @@ -203,14 +235,9 @@ sudo bash install_udev_rules.sh sudo udevadm control --reload-rules && sudo udevadm trigger ``` -编译 +此步骤对于 Linux 用户是**必需的**。 -```bash -cd ~/ros2_ws/ -source /opt/ros/$ROS_DISTRO/setup.bash -# 编译 release，默认是 Debug -colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=Release -``` +`注意：` 如果不执行此脚本，由于权限问题，打开设备将会失败。您需要使用 sudo（管理员权限）运行示例程序。 ## 快速开始