ROS2とLIPSedgeAE400を使い始める

Install ROS2 with AE400 Wrapper

Method 1: Docker

We provide ready to use docker image for AE400 ROS wrapper.

docker run -it hedgehao/lipsedge-ae4xx:ros2-wrapper

Method 2: Install Manually

Install ROS2

The Robot Operating System (ROS) has different distributions recommanded for different operating systems. Here we use ROS2 Galactic on Ubuntu 20.04 for the instructions below. You can found all the distributions here.

1. Install ROS via apt

sudo apt update && sudo apt install curl gnupg2 lsb-release 

sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg 

echo"deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null 

sudo apt update 

apt install -y ros-galactic-desktop

2. Install packages for dependencies and for building ROS packages

sudo apt install python3-colcon-common-extensions python3-rosdep ros-galactic-diagnostic-updater

3. Before using any ROS command, some environment variables need to be setup. You can add the environment setup command into your .bashrc / .zhrc file.

echo"source /opt/ros/galactic/setup.bash" >> ~/.bashrc 
source ~/.bashrc

4. Initailize rosdep to install system dependencies for source you want to compile and is required to run some core components in ROS.

sudo rosdep init 
rosdep update

Build AE400 ROS2 application

1. Create a new workspace.

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

2. Clone ROS2 application source code

git clone https://github.com/IntelRealSense/realsense-ros.git -b ros2

3. Install all dependent packages then build the app

cd ~/ros2_ws 
rosdep install -i --from-path src --rosdistro galactic --skip-keys=librealsense2 -y 
colcon build

Launch AE400 ROS Application

source ~/ros2_ws/install/local_setup.bash 
ros2 launch realsense2_camera rs_launch.py

Start a new Terminal and launch rviz2.

rviz2

The rviz interface pops up. At the Fixed Framein the left menu, select camera_depth_fram

Add 'DepthCloud' topic

Now, you can see the pointcloud on rviz

The original article is from LIPS Help Center. If you have any questions, please post them to LIPS Forum.