ROS2 wrapper for OpenNI2 using LIPSedge™ camera

1. Introduction
2. Installation
3. Build and launch
4. Visualize PointCloud2
5. Troubleshooting

Introduction

Please read original README from repo ros-driver.

• ROS1: Please check our repository LIPSedge-ros for installation guide.

• ROS2: ros2 branch supports Humble to Iron, but we only tested LIPSedge™ cameras on Humble.

If you have any request or need any support, welcome to mail LIPS or submit your request here.

Installation

dependent packages

• Install openni2 package for Ubuntu

$ sudo apt-get install libopenni2-0 libopenni2-dev

LIPSedge™ camera SDK

LIPSedge™ camera is OpenNI2 compliant and supports ROS2 platform.

Get LIPSedge™ SDK for your camera and install it.

• For LIPSedge™ camera T235

Download latest LIPSedge™ T235 SDK and install it.

$ chmod +x LIPSedge-T225-RGBD-SDK-Linux-amd64-2.4.4.3_v0.9.6.2.xz.run
$ ./LIPSedge-T225-RGBD-SDK-Linux-amd64-2.4.4.3_v0.9.6.2.xz.run

Follow steps on screen to finish installation or run below command to install SDK again.

$ cd LIPSedge-T225-RGBD-SDK-Linux-amd64-2.4.4.3_v0.9.6.2
$ sudo ./install.sh

• For LIPSedge™ camera DL/M3/AE4xx/L210

Assume you are installing LIPSedge™ DL SDK.

$ tar -xzf LIPS-Linux-x64-OpenNI2.2.tar.gz
$ cd LIPS-Linux-x64-OpenNI2.2
$ sudo ./install.sh

Build wrapper and launch driver

Clone this repository and build it in ROS2 environment

$ mkdir -p ~/LIPSedge_ws/src
$ cd ~/LIPSedge_ws/src
$ git clone https://github.com/lips-hci/LIPSedge-ros2
$ cd ~/LIPSedge_ws
$ colcon build

Starting >>> openni2_camera
Finished <<< openni2_camera [9.69s]                     

Summary: 1 package finished [9.84s]

For LIPSedge™ T235

You have to deploy LIPSedge™ camera driver to system before running launch script.

$ cd LIPSedge-T225-RGBD-SDK-Linux-amd64-2.4.4.3_v0.9.6.2
$ source OpenNIDevEnvironment

Go back to ros workspace source and run helper script.

$ cd ~/LIPSedge_ws/src
$ ./scripts/install_ros_T235_ubuntu22_x64.sh
SDK path found: /home/chengt/test/LIPSedge-T225-RGBD-SDK-Linux-amd64-2.4.4.3_v0.9.6.2/Redist
Creating lib,calib,OpenNI2 links in /lib/x86_64-linux-gnu
Finished.

Make sure LIPSedge™ T235 driver library has been installed to OpenNI2 Drivers repo in the system, you can see virtual link created for LIPSedge™ camera driver lib.

# ls -l /lib/x86_64-linux-gnu/OpenNI2/Drivers/

Launch openni2_camera service

$ source ./install/setup.bash
$ ros2 launch openni2_camera camera_only.launch.py

View depth/color/IR image by rqt, use:

$ ros2 run rqt_image_view rqt_image_view

Select topic /camera/depth/image_raw in rqt:

Select topic /camera/rgb/image_raw in rqt:

Visualize PointCloud2 data

If you want to get a PointCloud2, launch camera with another script:

$ source ./install/setup.bash
$ ros2 launch openni2_camera camera_with_cloud.launch.py

• Run Rviz tool in ROS2.
• Add PointCloud2 and change the field Topic -> Reliablity Policy to 'Best Effort'.
• In the left panel, manually change the field Global Options -> Fixed Frame to 'openni_rgb_optical_frame'.

In the right panel, you should see visualized point cloud data.