ROS2

LIPSEdge SDK is fully compatible with ROS2. In this article, we demonstrate how to use ROS2 wrapper to access 3D cameras and display pointcloud in Rviz viewer.

Prerequisite

• Install LIPSEdge SDK

Installation

• Install openni2 package for Ubuntu

$ sudo apt-get install libopenni2-0 libopenni2-dev

Build and launch

Clone this repository and build it in ROS2 environment

$ mkdir -p ~/LIPSedge_ws/src
$ cd ~/LIPSedge_ws/src
$ git clone https://github.com/lips-hci/LIPSedge-ros2
$ cd ~/LIPSedge_ws
$ colcon build

Launch camera service, use:

$ source ./install/setup.bash
$ ros2 launch openni2_camera camera_only.launch.py

View depth/color/IR image by rqt, use:

$ ros2 run rqt_image_view rqt_image_view

Select topic /camera/depth/image_raw in rqt:

Select topic /camera/rgb/image_raw in rqt:

Visualize PointCloud2 data

If you want to get a PointCloud2, launch camera with another script:

$ source ./install/setup.bash
$ ros2 launch openni2_camera camera_with_cloud.launch.py

• Run Rviz tool in ROS2.

• Add PointCloud2 and change the field Topic -> Reliablity Policy to 'Best Effort'.

• In the left panel, manually change the field Global Options -> Fixed Frame to 'openni_rgb_optical_frame'.

In the right panel, you should see visualized point cloud data.