orbbec_camera

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ORBBEC_SDK ROS2 wrapper for orbbec 3d camera

Installation Instructions

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Install ROS2

• Add ROS2 gpg key

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

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

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

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

Create colcon workspace Ubuntu

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src

Clone source code

git clone gitlab@code.orbbec.com.cn:OrbbecSDK/orbbecros2sdk.git

Install magic_enum

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

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

cd ~/ros2_ws/
colcon build --event-handlers console_direct+

Launch camera node

• On terminal 1

. ./install/setup.bash 
ros2 launch orbbec_camera orbbec.launch.py

• On terminal 2

. ./install/setup.bash 
rviz2 -d src/orbbec_camera/rviz/pointcloud.rviz

• List topics / services/ parameters ( on terminal 3)

ros2 topic list
ros2 service list
ros2 param list