ROS2下编写orbbec相机C++package并Rviz显示

视频讲解：

.bilibili /video/BV1HUwSe3E6o/?vd_source=5ba34935b7845cd15c65ef62c64ba82f

ROS2下编写orbbec相机C++ package并Rviz显示

开发环境：Ubuntu22.04 WSL ROS2版本：humble

创建工作空间

mkdir ws_ros2 cd ws_ros2 mkdir src cd src

创建ros2 package模板，依赖cv_bridge，OpenCV，sensor_msgs

ros2 pkg create --build-type ament_cmake orbbec_cam_pkg --dependencies rclcpp sensor_msgs cv_bridge OpenCV

创建include和lib，include和lib的文件为orrbec sdk提取

cd orrbec_cam_pkg mkdir include lib

修改CMakeLists.txt，增加如下内容 file依赖的动态库 target链接 将动态库安装到工作空间的install的lib下

file(GLOB ORBBEC_LIBS "lib/x86_64/*") target_link_libraries(image_publisher ${ORBBEC_LIBS} ) install(DIRECTORY lib/x86_64/ DESTINATION lib/)

src下的image_publisher.cpp 发布消息类型为Image，设置发布定时器30ms，使用封装好的orbbec相机类获取cv图像，通过cv_bridge转换成msg

#include <rclcpp/rclcpp.hpp> #include <sensor_msgs/msg/image.hpp> #include <cv_bridge/cv_bridge.h> #include <opencv2/opencv.hpp> #include <thread> #include "orbbec.h" class ImagePublisher : public rclcpp::Node { public: ImagePublisher() : Node("image_publisher") { publisher_ = this->create_publisher<sensor_msgs::msg::Image>("rgb_image", 10); timer_ = this->create_wall_timer(std::chrono::milliseconds(30), std::bind(&ImagePublisher::timer_callback, this)); } void camInit() { cam_.wait4Device(); cam_.init(); std::thread t = std::thread([&]() { cam_.run(); }); t.detach(); } private: void timer_callback() { // 创建一个简单的RGB图像（这里创建一个红色方块图像） // cv::Mat image(480, 640, CV_8UC3, cv::Scalar(0, 0, 255)); cv::Mat image = cam_.getImg(); // 将OpenCV图像转换为ROS 2图像消息 sensor_msgs::msg::Image::SharedPtr msg = cv_bridge::CvImage(std_msgs::msg::Header(), "bgr8", image).toImageMsg(); // 发布图像消息 publisher_->publish(*msg); RCLCPP_INFO(this->get_logger(), "Publishing an RGB image"); } rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr publisher_; rclcpp::TimerBase::SharedPtr timer_; OrbbecCam cam_; }; int main(int argc, char * argv[]) { rclcpp::init(argc, argv); auto node = std::make_shared<ImagePublisher>(); node->camInit(); rclcpp::spin(node); rclcpp::shutdown(); return 0; }

运行Rvi2，并添加Image显示

运行orbbec_cam_pkg程序，这里需要注意，需要sudo权限获取设备，所以先切到root，再source当前的ros2工作空间，不然会直接报错退出

sudo su source install/setup.bash ros2 run orbbec_cam_pkg image_publisher

可以看到已经获取到相机信息和发布出了数据，图像大小为480*640 切回到Rviz，将Image中的Topic选择为rgb_image，将History Policy选为System Default既可显示