i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-04 12:07:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

docs: update installation instructions and add mandatory udev rules for Linux users

Browse Source
This commit is contained in:
ob-yalian
2025-12-29 14:08:49 +08:00
parent cbd654a920
commit 0a30f036f1
2 changed files with 103 additions and 51 deletions
Download Patch File Download Diff File Expand all files Collapse all files
README.MD
+51 -26
View File
@@ -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