ROS2 Wrapper for Time of Flight SDK of Analog Devices (for Ubuntu)

Ubuntu 20.04: Foxy	Ubuntu 22.04: Humble	Ubuntu 22.04: Rolling

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:

1.1 Install ROS2 on NXP

• The installation is described on file doc/ros2_on_nxp.md

2. ToF dependency

Download debian package:

For Crosby:

• Tof lib for (Ubuntu 20.04) [Latest SDK master]
• Tof lib for (Ubuntu 22.04) [Latest SDK master]

For Adsd3030:

• Tof lib for (Ubuntu 20.04) [Latest SDK master]
• Tof lib for (Ubuntu 22.04) [Latest SDK master]

Install command: sudo dpkg -i tof_lib.deb

Building from sources

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

• Build ToF from sourcecode (Until the step: "Download and build the SDK only")

Also make sure to run sudo make install at the end of the build

3. Usage

In directory ros2_ws/src/ clone the repository:

  git clone https://github.com/analogdevicesinc/tof-ros2

After cloning the repository in the ``ros2_ws/ run the following command:

  colcon build
  source install/setup.sh

Starting camera node

• In the general ROS2 workspace run the following code, setting up the path towards shaed library:

  export LD_LIBRARY_PATH="$LD_LIBRARY_PATH;/opt/websockets/lib;/usr/local/lib"

With roslaunch

• EVAL-ADTF3175D :

ros2 launch tof_ros2cpp EVAL-ADTF3175D.launch.xml

With ros2 run

• Starting the node

  ros2 run tof_ros2cpp tof_ros2cpp_node ip=10.42.0.1 config_file=<config file path> mode=<mode number> enable_multithread=<true/false>

Parameters:

[ip = "<ip address of camera>"]

• for remote acces specify the cameras ip: 10.42.0.1
• for on target use, leave empty: ""

Default value: "" (empty string)

[config_file = "<config file path>"]

• config/config_adsd3500_adsd3100.json ("Crosby")
• config/config_adsd3500_adsd3030.json ("Adsd3030")

Default value: config/config_adsd3500_adsd3100.json

[mode = "<mode>"] (for both cameras):

• 0: sr-native (short-range native)
• 1: lr-native (long-range native)
• 2: sr-qnative (short-range quarter native)
• 3: lr-qnative (long-range quarter native)
• 4: pcm-native
• 5: sr-mixed (short-range mixed)
• 6: lr-mixed (long-range mixed)

Default value: 0

[enable_multithread = "<True/False>"]:

• True: Node creates different threads for each publishing topics
• False: All publishers are updated on the same thread

Default value: False

Note: Although multithreading provides a faster publishing rate on certain platforms, on less performant Hosts this might not be beneficial and the single thread implementation can be more relevant.

ROS Parameters

Camera parameters:

• adsd3500ABinvalidationThreshold
• adsd3500ConfidenceThreshold
• adsd3500JBLFfilterEnableStat
• adsd3500JBLFfilterSize
• adsd3500RadialThresholdMin
• adsd3500RadialThresholdMax

Thread parameters:

• ir
• depth
• raw
• conf
• xyz

To enable or disable a publisher thread you can use ros2 param set commnad:

  ros2 param set /tof_camera_node depth false

The thread parameter name are: ir, depth, raw, conf and xyz. The thread parameter type are bool: true, false. Info: You must run twice the ros2 param set commnad to have effect on the node.