OPDK

Table of Contents

• OPDK
  • Table of Contents
  • Installation Instructions
  • Build Workspace
  • Getting start

Installation Instructions

Get source code

cd /home/orbbec/Documents/orbbec
git clone git@github.com:orbbec/opdk.git
git submodule update --init --recursive

Install deb dependencies

sudo apt-get install git-lfs
git lfs install --skip-repo

sudo apt install vpi3-dev libnvvpi3 ros-humble-isaac-ros-nitros \
ros-humble-isaac-ros-managed-nitros ros-humble-isaac-ros-nitros-image-type \
ros-humble-isaac-ros-nitros-camera-info-type -y
sudo apt install libbenchmark-dev ros-humble-foxglove-bridge ros-humble-nav2-costmap-2d libgoogle-glog-dev -y

sudo apt install libgflags-dev nlohmann-json3-dev \
ros-humble-image-transport ros-humble-image-publisher ros-humble-camera-info-manager \
ros-humble-diagnostic-updater ros-humble-diagnostic-msgs ros-humble-statistics-msgs \
ros-humble-backward-ros libdw-dev ros-humble-image-transport \
ros-humble-image-transport-plugins ros-humble-compressed-image-transport \
ros-humble-rqt-tf-tree -y
sudo apt install ros-humble-rqt-image-view ros-humble-rviz2 clang-format -y

Install udev rules.

cd /home/orbbec/Documents/orbbec/opdk/src/OrbbecSDK_ROS2/orbbec_camera/scripts
sudo bash install_udev_rules.sh
sudo udevadm control --reload-rules && sudo udevadm trigger

Build Workspace

cd /home/orbbec/Documents/orbbec/opdk
colcon build --packages-skip nvblox_test_data nvblox_test --event-handlers  console_direct+  --cmake-args  -DCMAKE_BUILD_TYPE=Release

Getting start

• Run all opdk nodes

cd /home/orbbec/Documents/orbbec/opdk
source install/setup.bash
ros2 launch isaac_orbbec_launch orbbec_perceptor.launch.py dev_matrices:=config/dev_matrices_SN1423724335594.yaml

Another step-by-step execution method

• Run static TF broadcast

cd /home/orbbec/Documents/orbbec/opdk/install/isaac_orbbec_launch/share/isaac_orbbec_launch/launch
python base_static_transforms_publisher.py --dev_matrices=/home/orbbec/Documents/orbbec/opdk/install/isaac_orbbec_launch/share/isaac_orbbec_launch/config/dev_matrices_SN1423724335594.yaml

• Run 4 cameras launch

cd /home/orbbec/Documents/orbbec/opdk
source install/setup.bash
ros2 launch orbbec_camera multi_camera_synced.launch.py

• Run Nvblox and cuVSLAM

cd /home/orbbec/Documents/orbbec/opdk
source install/setup.bash
ros2 launch isaac_ros_perceptor_bringup rgbd_perceptor.launch.py config_file:=/home/orbbec/Documents/orbbec/opdk/install/isaac_orbbec_launch/share/isaac_orbbec_launch/param/orbbec_perceptor_detached.yaml

• Run cuVSLAM without Nvblox

cd /home/orbbec/Documents/orbbec/opdk
source install/setup.bash
ros2 launch isaac_ros_perceptor_bringup rgbd_perceptor.launch.py config_file:=/home/orbbec/Documents/orbbec/opdk/install/isaac_orbbec_launch/share/isaac_orbbec_launch/param/orbbec_perceptor_detached.yaml disable_nvblox:=true

• Visualize the TF frame hierarchy using rqt_tf_tree with forced discovery.

ros2 run rqt_tf_tree rqt_tf_tree --force-discover

• View the output Pose from cuVSLAM, which is of type nav_msgs/msg/Odometry.

cd /home/orbbec/Documents/orbbec/opdk
source install/setup.bash
ros2 topic echo /visual_slam/tracking/odometry --no-arr