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ROS2

The instructions below cover downloading and configuring the SENSUS SDK for ROS2, and creating configurations for data acquisition and visualisation. Whether you’re performing 2-D and 3-D imaging or streaming data directly to ROS topics, this guide will help you establish a robust setup tailored to your application’s needs.

Note

Currently the Calyo SENSUS intergation with ROS2 only supports ROS2 humble, x86 archintucute on Linux systems.

Docker

At Calyo we also enjoy using Docker to run ROS2, if you also would like to run ROS2 inside docker please read our Docker Intergation before continuing with this installation.

Download ROS2 Project​

First, download the ROS2 project, which contains the SENSUS SDK and the two required packages for the ROS2 node: calyosensus_msgs and calyosensus_ros.

These packages have been pre-compiled as debian packges to be installed gloablly on your ROS2 system.

To install them, please navigate to the rosdist folder and run the install.sh script.

$ cd <path-to-downloaded-calyo-software-folder>/rosdist
$ sudo chmod +x install.sh
$ ./install.sh

Running the node​

  1. Open a New Terminal Source your ROS2 installation by running the following command, replacing <version> with your ROS version (e.g. humble):
source /opt/ros/<version>/setup.bash
  1. Navigate to the Calyo ROS2 Folder Change directory to the ROS2 folder:
cd <path-to-downloaded-calyo-software-folder>/rosdist/
  1. Update the example.json To compile the message package, run:
./run.sh driver_cuda "$(pwd)/config/example.json"
  1. Build the Driver Node To compile the driver node, specify platform arguments:
  • Platform: Choose from ["Linux"]
  • Architecture: Choose from ["amd64", "arm64"]

Run the following command, replacing /path/to/sdk with your SDK path: