Foxy_sensor_drivers

• This repo includes
  • Witmotion IMU
  • Realsense
  • Veodyne

Requirements

sudo apt-get install libqt5serialport5-dev

• Realsense driver

sudo apt install ros-foxy-realsense2-*

• otherwise,

  sudo mkdir -p /etc/apt/keyrings
  curl -sSf https://librealsense.realsenseai.com/Debian/librealsenseai.asc | \
  gpg --dearmor | sudo tee /etc/apt/keyrings/librealsenseai.gpg > /dev/null
  
  echo "deb [signed-by=/etc/apt/keyrings/librealsenseai.gpg] https://librealsense.realsenseai.com/Debian/apt-repo `lsb_release -cs` main" | \
  sudo tee /etc/apt/sources.list.d/librealsense.list
  sudo apt-get update
  
  sudo apt-get install librealsense2-dkms librealsense2-utils librealsense2-dev librealsense2-dbg
  
  sudo apt install ros-foxy-realsense2-*

Run

ros2 param list

• Realsense

  ros2 launch realsense2_camera rs_launch.py \
    rgb_camera.profile:=640x480x30 \
    depth_module.profile:=640x480x30 \
    enable_sync:=true \
    align_depth.enable:=true

• Velodyne

  • Set IP as 192.168.1.100
  • If some issue occurs, use wireshark to find IP address

    sudo apt install wireshark
    sudo wireshark

  ros2 launch velodyne velodyne-all-nodes-VLP32C-launch.py

• IMU

  sudo chmod a+w+r+x /dev/ttyUSB0
  ros2 launch witmotion_ros wt901.launch.py