update readme

2026-09-15 04:20:20 +08:00 · 2022-06-10 14:24:27 +08:00
parent 9cba6a06d2
commit 361105ac9e
2 changed files with 102 additions and 2 deletions
@@ -1,4 +1,102 @@
-### orbbec_camera
+# orbbec_camera

 ---
-ORBBEC_SDK ROS2 driver for orbbec 3d camera 
+ORBBEC_SDK ROS2 wrapper for orbbec 3d camera 
+
+## Installation Instructions
+
+---
+Install ROS2
+
+* Add ROS2 gpg key
+
+```bash
+sudo apt install curl gnupg2
+sudo curl -sSL https://mirrors.tuna.tsinghua.edu.cn/rosdistro/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+```
+
+* Add tuna ROS2 mirror
+
+```bash
+echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] https://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu focal main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+ 
+sudo apt update
+```
+
+* Install ROS2
+
+```bash
+sudo apt-get  install ros-galactic-desktop
+sudo apt-get install python3-colcon-common-extensions
+
+```
+>>If your ROS2 command can not auto complete, please put blow 2 lines in your `.bashrc`
+or `.zshrc`
+
+```bash
+eval "$(register-python-argcomplete3 ros2)"
+eval "$(register-python-argcomplete3 colcon)"
+```
+
+Create `colcon` workspace Ubuntu
+
+```bash
+mkdir -p ~/ros2_ws/src
+cd ~/ros2_ws/src
+```
+
+Clone source code 
+
+```bash
+git clone gitlab@code.orbbec.com.cn:OrbbecSDK/orbbecros2sdk.git
+```
+Install `magic_enum`
+
+```bash
+cd orbbec_camera/dependencies
+tar -xzvf magic_enum-0.8.0.tar.gz
+cd magic_enum-0.8.0
+mkdir build && cd build
+cmake .. && make -j4
+sudo make install
+sudo ldconfig
+```
+
+Install `ORBBEC_SDK`
+
+```bash
+cd orbbec_camera/dependencies
+tar -xzvf sensor_sdk_v1.2.8_linux.tar.gz
+cd SDK/lib
+sudo cp libOrbbecSDK.so.1.2.8  libpostfilter.so /usr/local/lib
+sudo ln -s /usr/local/lib/libOrbbecSDK.so.1.2.8 /usr/local/lib/libOrbbecSDK.so.1.2
+sudo ln -s /usr/local/lib/libOrbbecSDK.so.1.2.8 /usr/local/lib/libOrbbecSDK.so
+cd ../include 
+sudo cp -frd libobsensor /usr/local/include
+sudo ldconfig
+```
+Build
+
+```bash
+cd ~/ros2_ws/
+colcon build --event-handlers console_direct+
+```
+Launch camera node 
+* On terminal 1
+```bash 
+. ./install/setup.bash 
+ros2 launch orbbec_camera orbbec.launch.py
+```
+* On terminal 2
+
+```bash
+. ./install/setup.bash 
+rviz2 -d src/orbbec_camera/rviz/pointcloud.rviz
+```
+* List topics / services/ parameters ( on terminal 3)
+
+```bash
+ros2 topic list
+ros2 service list
+ros2 param list
+```