A quick tutorial to help you enable ROS-based development on your Jetson with the state-of-the-art Arducam ToF camera.
Before You Start
Make sure you already successfully installed the camera driver and dependencies (camera SDK and OpenCV) as per our Quick Start guide
Step 1. Installing ROS2
Please refer to ROS official website (shown below) for detailed installing guidance.
Follow the steps accordingly for preparations before installing.
Step 2. Compile & run ROS2 on your Jetson
Download the repository
git clone https://github.com/ArduCAM/Arducam_tof_camera.git
If you are running Jetson Nano
colcon build --merge-install --cmake-args -DPLATFORM:STRING=NANO
If you are running Jetson NX
colcon build --merge-install --cmake-args -DPLATFORM:STRING=NX
colcon build --merge-install --cmake-args -DPLATFORM:STRING=DEFAULT
. install/setup.bash ros2 run arducam tof_pointcloud
Step 3. Previewing on your HOST computer
Install ROS2 on your host PC, and run rviz2
Click Add > By topic > Select PointCloud2
Enable PointCloud2, change Fixed Frame to sensor_frame, and change Size (m) to 0.001, and you will see a real-time point cloud preview like the following: