LIPSEdgeDLを使用してROSアプリケーションを開発する

Overview

LIPSedge DL and LIPSedge DL400 are fully comptible with OpenNI2 and ROS. In this article, we demonstrate how to use LIPS ROS wrapper to access DL cameras video. If you haven't install DL SDK, please refer to Setup LIPSedge DL SDK.

Install ROS

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

1. 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

2. Install packages for dependencies and for building ROS packages

sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential python3-rosdep

3. Install required ROS packages. ('noetic' is the version name for ROS. Change it to the version you installed)

sudo apt-get install ros-noetic-rgbd-launch ros-noetic-image-view

4. 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/noetic/setup.bash" >> ~/.bashrc 
source ~/.zshrc

5. 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

Access camera feed in ROS

1. Create a new workspace.

mkdir -p ~/LIPSToF_ws/src 
cd ~/LIPSToF_ws/src 
catkin_init_workspace 

2. Download ROS wrapper for LIPSedge DL.

cd ~/LIPSToF_ws/src 
git clone https://github.com/lips-hci/openni2_camera

3. Launch DL camera topics.

cd ~/LIPSToF_ws 
ln -s src/openni2_camera/run_DL.sh . 
./run_DL.sh

4. Open another terminal to launch viewer.

cd ~/LIPSToF_ws 
ln -s src/openni2_camera/view.sh . 
./view.sh

5. Select topic /camera/depth/image on the top menu. Adjust the max depth value.

6. Select topic /camera/rgb/image_raw to view RGB video.

Full example You can reference the full example in the original article in LIPS Help Center. If you have any questions, please post them to LIPS Forum.