2.1. Build from Source

2.1.1. Environment

Install ROS 2 according to the official guide:

ROS 2 installation (Ubuntu)

Enable ROS 2 auto-completion:

eval "$(register-python-argcomplete3 ros2)"
eval "$(register-python-argcomplete3 colcon)"

Create a colcon workspace:

mkdir -p ~/ros2_ws/src

2.1.2. Linux ROS2 Wrapper Compilation

Clone source and checkout v2-main branch:

cd ~/ros2_ws/src
git clone https://github.com/orbbec/OrbbecSDK_ROS2.git
cd OrbbecSDK_ROS2
git checkout v2-main

Install dependencies:

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

Build:

cd ~/ros2_ws
colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=Release