ASCamera ROS2 SDK — Setup Guide

RA305 Robotics Programming

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Prerequisites

• ROS 2 Jazzy installed and sourced
• Ubuntu 24.04 on Raspberry Pi 5
• ASCamera depth camera and USB cable

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1. Clone the Repository

Clone into your project directory (you know which one):

git clone https://github.com/KSU-Chad/ascamera.git
cd ascamera

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2. Install Dependencies

Update apt first:

sudo apt update

Install required libraries:

sudo apt install libgflags-dev nlohmann-json3-dev libgoogle-glog-dev \
ros-$ROS_DISTRO-image-transport ros-$ROS_DISTRO-image-publisher ros-$ROS_DISTRO-camera-info-manager

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3. Configure udev Rules

Navigate to the scripts directory:

cd ascamera/scripts/

Copy the udev rule file (grants the camera proper device permissions):

sudo cp angstrong-camera.rules /etc/udev/rules.d

Run the target detection script:

sudo ./gettarget.sh

Reload udev rules to apply changes:

sudo udevadm control --reload-rules
sudo udevadm trigger

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4. Configure the Launch File

Open the launch file to update the configuration path:

gedit ../launch/ascamera.launch.py

Find the configuration file path entry and update it to match your directory structure, replace and :

/home/<user>/<workspace>/ascamera/configurationfiles

Save and close.

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5. Build the Workspace

Navigate back to the project root and build:

cd ..
./build.sh

Source the environment:

source install/setup.bash

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6. Run the Camera Node

./run_ascamera_node.sh

Leave this terminal open — the camera service must stay running while viewing.

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7. Visualize Camera Output

Open a new terminal for the viewer. Two options:

Option A — rqt (2D images)

rqt

In the rqt window: Plugins → Visualization → Image View

• Depth map: select the depth topic,

• change the Max depth value and see how the image changes

• RGB image: select the rgb0 topic from the dropdown

Option B — RViz (3D / depth)

rviz2

For color image:

1. Click Add → By topic → /ascamera → /camera_publisher → /rgb0 → /imgage → imgage → OK

For depth map:

1. Set Fixed Frame to camera_link
2. Click Add → By topic → /ascamera → /camera_publisher → /depth0 → /points → PointCloud2 → OK

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