ROS Guide
Last revision 2026/01/24
This guide offers a complete walkthrough for setting up and running ROS using a 3D ToF Depth Sensor Camera on a Linux system, including hardware and software preparations, command execution, and visualization using RVIZ2.
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
- ROS Access Package: sipeed_tof_ms_a010_ros_v0.3.zip
RUN ROS
Unzip sipeed_tof_ms_a010.zip and enter the directory
command: cd ros1
command: source /opt/ros/*/setup.sh
command: catkin_make
command: source devel/setup.sh
command: rosrun sipeed_tof_ms_a010 a010_publisher _device:="/dev/ttyUSB0"
After that, the terminal will continue to refresh and display [sipeed_tof]: Publishing, that is, it works normally
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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