Example Code for ROS2-Point Cloud Publishing

Hardware Preparation

• RGB-D Sensor Camera (SKU:SEN0583), Quantity: 1, Purchase Link: DFRobot

Software Preparation

• ROS2 (install link: ROS 2 Documentation)
• Sipeed_tofv075_ros2 package (download link: Sipeed)

Other Preparation Work

1. Prepare a Linux environment for ROS2.
2. Extract the sipeed_tofv075_ros2.zip package and navigate to its path.

command

• Extract sipeed_tofv075-ros.zip，and open its path
  command1: source /opt/ros/*/setup.sh
  command: colcon build
  If it indicates missing colcon, use command sudo apt install python3-colcon-ros
  command: source install/setup.sh
  command: ros2 run sipeed_tof_cpp publishe

  Then the terminal continuously refreshes the command line and display [sipeed_tof]: Publishing,this means it works normally.

Result

• The terminal will display [sipeed_tof]: Publishing indicating successful data publishing.
• View frames in RQT by selecting Plugins->Topics->Topic Monitor.
• Preview point cloud data in RVIZ2 by adding PointCloud2 or /depth topics and setting the Fixed Frame to "tof".

Additional Information