7.2. Building a Debian Package

7.2.1. Preparing the Environment

Before starting, install the required tools:

sudo apt install debhelper fakeroot python3-bloom

7.2.2. Configuring ROS Dependencies

Add the following YAML file to your system at /etc/ros/rosdep/sources.list.d/00-orbbec.yaml. Make sure to replace focal with the codename of your Ubuntu version and humble with your ROS2 distribution name:

orbbec_camera_msgs:
  ubuntu:
    focal: [ ros-humble-orbbec-camera-msgs ]

Next, create a new file /etc/ros/rosdep/sources.list.d/50-orbbec.list and add this line to specify the path to the YAML file:

yaml file:///etc/ros/rosdep/sources.list.d/00-orbbec.yaml

Update the rosdep database to reflect these changes:

rosdep update

7.2.3. Building the Package

Navigate to your workspace and build the project:

cd ~/ros2_ws/
colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=Release
. install/setup.bash
cd src/OrbbecSDK_ROS2/
bash .make_deb.sh