LIPS® Developer Documentation
  • WELCOME
    • LIPS® Developer Documentation
    • About 3D Depth Cameras
    • Depth Image
    • Understanding Depth
    • An Ideal Depth Camera
    • LIPSedge™ AE Series Camera Selection Guide
  • LIPSedge™ SDK 1.x
    • LIPSedge™ SDK 1.x
    • Benefits from LIPSedge™ SDK implementation
    • LIPSedge™ SDK 1.x Installation Architecture
    • How to identify each camera SDK
    • New Features for v1.02
      • Installing and identifying packages on Windows
      • Saving Captures and Videos with the DepthViewer
      • Saving Point Cloud with PointCloudViewer
      • Live On-Screen displaying Depth, FPS
      • Live On-Screen displaying XYZ parameters in RawfileViewer
      • Distance measurement on-screen from point-to-point
      • Mouse Pointer Change
      • LIPSedge™ AE and S series Colormap new feature addition
      • Simple naming for LIPSedge™ SDK Tools
      • Importing parameters from .json files for LIPSedge™ AE and S series
    • LIPSedge™ SDK v1.02 Tools
      • DepthViewer
      • PointCloudViewer
      • CameraParameterViewer
      • CameraCenterViewer
      • CameraEventListener
      • CameraPowerTest
      • LensModeSelector
      • LIPSImuReader
      • CameraSimpleViewer
      • RawFileViewer
    • Features Articles
      • LIPSedge™ SDK Persistent Connection for PoE and USB
    • Tutorials
    • Development and Deployment on arm64
  • DOCUMENTS, INSTALLATION & SETUP
    • LIPSedge™ AE400 / AE450
      • User Guide
        • Previous Releases (Archive)
      • SDK Release
        • Previous Releases (Archive)
      • Installation
        • Linux
        • Windows
        • ROS Wrapper
        • NVIDIA ISAAC Wrapper
        • Persistent Connection
      • STEP files for CAD Use
      • Certifications Documents
      • Firmware
    • LIPSedge™ AE430 / AE470
      • User Guide
        • Previous Releases (Archive)
      • SDK Release
        • Previous Releases (Archive)
      • Firmware
      • STEP files for CAD Use
    • LIPSedge™ AE430-DK / AE470-DK
      • User Guide
    • LIPSedge™ DL & M3 Series
      • User Guide
        • Previous Releases (Archive)
      • SDK Release
        • Previous Releases (Archive)
        • Changelog
      • STEP files for CAD Use
      • Installation
        • Ubuntu
        • Windows
    • LIPSedge™ L215u / L210u
      • User Guide
        • Previous Releases (Archive)
      • SDK Release
        • Previous Releases (Archive)
        • Changelog
      • Installation
        • Windows
        • Linux
      • STEP files for CAD Use
    • LIPSFace™ HW110/115 On-Device 3D Facial Recognition
      • User Guide & SDK Download
      • STEP files for CAD Use
    • LIPSFace™ HW120/125 On-Device 3D Facial Recognition
      • User Guide
      • SDK
      • STEP files for CAD Use
    • LIPScan 3D ™ Middleware
      • LIPScan 3D™ SDK
        • SDK Download
          • Previous Releases
        • User Guide
        • Release Notes
    • LIPSMetric™ HA110 Handheld Dimensioner
      • User Guide
    • LIPSMetric™ ST115 Static Dimensioner
      • User Guide
    • LIPSMetric™ ST130 Pallet Dimensioner
      • User Guide
  • LIPSedge™ SDK Languages & Libraries
    • C++
      • environment-setup
      • hello-lipsedge-sdk
      • opencv-viewer
      • roi
      • depth-data
      • align-depth-color
      • range-filter
      • remove-background
      • record
      • pointcloud
      • config-resolution
      • camera-parameter
    • Python
      • environment-setup
      • hello-lipsedge-sdk
      • opencv-viewer
      • roi
      • depth-data
      • align-depth-color
      • range-filter
      • remove-background
      • record
    • Java
      • ni-hello
    • C#
      • ni-hello
      • simple-read
    • OpenCV
  • LIPSedge™ SDK Frameworks
    • GenICam (for Halcon / Aurora Vision)
      • User Manual
      • Driver(.cti) and Nodemap (.xml)
      • Supported LIPSedge™ Camera SDK
      • Installation Example
    • ROS
    • ROS2
    • NVIDIA Isaac Wrapper
    • Flutter
  • LIPSedge™ SDK Sample Codes
    • Sample Applications & Viewer & Utilities
      • ni-viewer
      • ni-pointcloud-gl
      • ni-camera-matrix
  • LIPSFace™ SDK
    • LIPSFace™ SDK Overview
    • Updates
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On this page
  • Prerequisite
  • ROS Installation
  • Method 1: Docker (ROS Noetic + Ubuntu 20.04)
  • Method 2: Install Manually
  • Using ROS Wrapper
  • Launch ROS Application
  1. DOCUMENTS, INSTALLATION & SETUP
  2. LIPSedge™ AE400 / AE450
  3. Installation

ROS Wrapper

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Last updated 2 years ago

LIPS AE Series SDK is fully compatible with ROS. In this article, we demonstrate how to use ROS wrapper to access 3D cameras and display pointcloud in Rviz viewer.

Prerequisite

  • Install AE Series SDK

ROS Installation

Method 1: Docker (ROS Noetic + Ubuntu 20.04)

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

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

Method 2: Install Manually

we use Ubuntu 20.04 and ROS Noetic in the following tutorial. You can also find official install documentation

  • Install ROS via apt

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt update
sudo apt install ros-noetic-desktop-full
  • Install dependencies

sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential python3-rosdep
  • Install some useful ROS packages (e.g. rviz viewer)

sudo apt-get install ros-noetic-rgbd-launch ros-noetic-image-view rviz
  • Before using any ROS command, some environment variables need to be setup. You can do that by executing setup.bash which ROS provide

source /opt/ros/noetic/setup.bash
  • Initialize ROS and install all ROS dependencies

sudo rosdep init
rosdep update

Using ROS Wrapper

  • Create the workspace

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src/
  • Clone ROS application source code

git clone https://github.com/IntelRealSense/realsense-ros.git
cd realsense-ros/
git checkout `git tag | sort -V | grep -P "^2.\d+\.\d+" | tail -1`
cd ..
  • Install all dependencies

catkin_init_workspace
cd ..
catkin_make clean
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
catkin_make install

Launch ROS Application

  • Launch ROS service

roslaunch realsense2_camera rs_camera.launch
  • Start a new Terminal and launch rviz.

rosrun rviz rviz
  • Set Fixed Frame to camera_depth_frame on the left menu.

  • Click Add from left menu. On the By topic tab, add DepthCloud topic.

  • Now, you can see the pointcloud on rviz

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