2.1. Binary Installation
2.1.1. Environment
Install ROS 2 according to the official guide:
Install dependencies:
sudo apt install libgflags-dev nlohmann-json3-dev \
ros-$ROS_DISTRO-image-transport ros-${ROS_DISTRO}-image-transport-plugins ros-${ROS_DISTRO}-compressed-image-transport \
ros-$ROS_DISTRO-image-publisher ros-$ROS_DISTRO-camera-info-manager \
ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs ros-$ROS_DISTRO-statistics-msgs ros-$ROS_DISTRO-xacro \
ros-$ROS_DISTRO-backward-ros libdw-dev libssl-dev
Enable ROS 2 auto-completion:
eval "$(register-python-argcomplete3 ros2)"
eval "$(register-python-argcomplete3 colcon)"
2.1.2. Linux Binary Package Installation
Check available packages:
sudo apt update
apt list | grep orbbec
Install OrbbecSDK ROS2 package:
sudo apt install ros-humble-orbbec-camera ros-humble-orbbec-description
After installation, you can use it directly without compilation.
2.2. Build from Source
2.2.1. Linux ROS2 Wrapper Compilation
Create a colcon workspace:
mkdir -p ~/ros2_ws/src
Clone source and checkout v2-main branch:
cd ~/ros2_ws/src
git clone https://github.com/orbbec/OrbbecSDK_ROS2.git
cd OrbbecSDK_ROS2
git checkout v2-main
Build:
cd ~/ros2_ws
colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=Release