ROS2 Guide
The ROS2 Guide offers a comprehensive walkthrough for setting up and utilizing a 3D ToF Depth Sensor Camera in a Linux environment, detailing hardware requirements, software setup, package execution, and data visualization using RVIZ2 and RQT.
Hardware Preparation
- 3D ToF Depth Sensor Camera (SKU:SEN0581), Quantity:1, Purchase Link: https://www.dfrobot.com/product-2741.html
- Type-C cable, Quantity:1, Purchase Link: (not provided in original)
Software Preparation
- prepare the applicable environment: Linux system
- ROS2 Access Package: sipeed_tof_ms_a010_ros_v0.3.zip
RUN ROS
Unzip sipeed_tof_ms_a010.zip and enter the directory
command: cd ros2
command: source /opt/ros/*/setup.sh
command: colcon build
If you are prompted that colcon is missing, you need sudo apt install python3-colcon-ros
command: source install/setup.sh
command: ros2 run sipeed_tof_ms_a010 publisher --ros-args -p device:="/dev/ttyUSB0"
After that, the terminal will continue to refresh and display [sipeed_tof]: Publishing, that is, it works normally
RQT View frame rate
RVIZ2 Preview
After opening rviz2, in the lower left corner of the interface Add->By topic->PointCloud2 or /depth ->Image Add ->Display/Global Options/Fixed Frame needs to be modified to tof, the point cloud can be displayed normally. According to the added content, Image will be displayed on the left and the point cloud will be displayed in the middle.
You can view the frame rate in RQT
RVIZ2 Preview
After opening rviz2, in the lower left corner of the interface Add->By topic->PointCloud2 or /depth ->Image Add ->Display/Global Options/Fixed Frame needs to be modified to tof, the point cloud can be displayed normally. According to the added content, Image will be displayed on the left and the point cloud will be displayed in the middle.
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