Arducam_tof_camera/ros2_publisher

ros2_publisher

Dependencies

Raspberry Pi:

Please refer to the instructions above for a. Driver Install, b. Configuration, and c. SDK Install which run on Raspberry Pi.

Jetson:

Please refer to the instructions above for project dependencies and SDK Install which run on Jetson.

ROS2 Installation

On Raspberry Pi

Install ROS2 on Raspberry Pi. See ROS2 Installation for details. Alternatively, you can use a third-party installation script to install ROS2 on Raspberry Pi. See this repository for details.

On Jetson

The example is based on ROS2. Please refer to ROS2 Installation and install it yourself.

# Install the compilation tool colcon
sudo apt install python3-colcon-common-extensions

ROS2 post-installation

Then export the environment variables to the bashrc file.

---

for humble version

echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc 
echo "export ROS_DOMAIN_ID=7" >> ~/.bashrc 
source ~/.bashrc 

---

for jazzy version

echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc
echo "export ROS_DOMAIN_ID=7" >> ~/.bashrc
source ~/.bashrc

Compilation

  cd Arducam_tof_camera/ros2_publisher
  colcon build --merge-install 

Run C++ examples

  . install/setup.bash 
  ros2 run arducam_rclcpp_tof_pointcloud tof_pointcloud

Run Python examples

  . install/setup.bash 
  ros2 run arducam_rclpy_tof_pointcloud tof_pointcloud

You can preview by running rviz2 on the host in the LAN

RViz2

If you encounter an error like this: Make sure to set the Display Server to X11.

  rviz2