ros2

ROS2 Wrapper for Time of Flight SDK of Analog Devices

ROS 2 Wrapper exists in an external repository for general package implementations: External repository

1. Install ROS2

• Install the recommended ROS2 distribution for your operating system**

  • ROS Install page

• In order to prepare the system to run the ROS wrapper in the general catkin workspace make sure to install correctly the following libraries:

2. ToF dependency

• Install SDK dependencies

git clone https://github.com/analogdevicesinc/ToF
cd ToF
mkdir build && cd build

• In case you have the Depth-Compute library for the SDK, use the following command:

cmake -DWITH_NETWORK=1 -DWITH_ROS2=on -DROS_HOME_DIR="/home/${USER}/.ros" -DCMAKE_PREFIX_PATH="/opt/glog;/opt/protobuf;/opt/websockets" -DUSE_DEPTH_COMPUTE_STUBS=0 ..

• Otherwise, if the Depth-Compute library is not added, plese use the following command:

cmake -DWITH_NETWORK=1 -DWITH_ROS2=on -DROS_HOME_DIR="/home/${USER}/.ros" -DCMAKE_PREFIX_PATH="/opt/glog;/opt/protobuf;/opt/websockets" -DUSE_DEPTH_COMPUTE_STUBS=1 ..

sudo cmake --build . --target install

• Build the aditof_roscpp package

sudo cmake --build . --target tof_ros2_package

3. Usage

For usage information please refere to section 3 from: ROS Usage

4. Diagrams