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Package summary

Introduction

More details can be obtained by accessing the official site:

https://www.analog.com/en/design-center/evaluation-hardware-and-software/evaluation-boards-kits/ad-96tof1-ebz.html

Setup

Setting up the SD card

The latest SD image can be downloaded from here, depending on the embedded platform used:

https://github.com/analogdevicesinc/aditof_sdk#supported-embedded-platforms

Updating the SD card

The instructions used for updating and building the SDK are presented bellow:

linaro@linaro-alip:~/workspace/github/aditof_sdk$ git pull
linaro@linaro-alip:~/workspace/github/aditof_sdk$ cd build
linaro@linaro-alip:~/workspace/github/aditof_sdk/build$ cmake -DDRAGONBOARD=1 -DWITH_ROS=on ..
linaro@linaro-alip:~/workspace/github/aditof_sdk/build$ make -j4  

pi@raspberry:~/workspace/github/aditof_sdk$ git pull
pi@raspberry:~/workspace/github/aditof_sdk$ cd build
pi@raspberry:~/workspace/github/aditof_sdk/build$ cmake -DRASPBERRYPI=1 -DWITH_ROS=on ..
pi@raspberry:~/workspace/github/aditof_sdk/build$ make -j4

analog@jetson:~/workspace/aditof_sdk$ git pull
analog@jetson:~/workspace/aditof_sdk$ cd build
analog@jetson:~/workspace/aditof_sdk/build$ cmake -DJETSON=1 -DWITH_ROS=on ..
analog@jetson:~/workspace/aditof_sdk/build$ make -j4

Setting up the ROS environment

Depending on your operating system you must install one of the ROS distribution from the following link:

http://wiki.ros.org/ROS/Installation

You must have the rviz package installed.

Installation

Installing the dependencies:

A full list of the required dependencies required to run the SDK and how to install them can be found bellow:

https://github.com/analogdevicesinc/aditof_sdk/blob/6c7fb376aeec73a21ab177adf297c5781bcbd544/doc/linux/build_instructions.md#installing-the-dependencies

Install the ADI ToF SDK library with the ROS feature enabled:

git clone https://github.com/analogdevicesinc/aditof_sdk
cd aditof_sdk
mkdir build && cd build
cmake -DWITH_EXAMPLES=off -DWITH_ROS=on -DCMAKE_PREFIX_PATH="/opt/glog;/opt/protobuf;/opt/websockets" ..
sudo cmake --build . --target install
cmake --build . --target aditof_ros_package

Usage

cd catkin_ws
source devel/setup.bash
roslaunch aditof_roscpp rviz_publisher.launch

cd catkin_ws
source devel/setup.bash
roslaunch aditof_roscpp rviz_publisher.launch ip:="127.0.0.1"

cd catkin_ws
source devel/setup.bash
roslaunch aditof_roscpp camera_node.launch

cd catkin_ws
source devel/setup.bash
roslaunch aditof_roscpp camera_node.launch ip:="127.0.0.1"

Replace the ip address from the commands above with your boards ip address.

More details are provided in the link attached bellow:

https://github.com/analogdevicesinc/aditof_sdk/tree/master/bindings/ros


2021-01-02 12:14