OPDK

Table of Contents

• OPDK
  • Table of Contents
  • Installation Instructions
  • Build Workspace
  • Getting start
  • FAQ

Installation Instructions

Get source code

cd /home/orbbec/Documents/orbbec
git clone [email protected]:orbbec/opdk.git
git submodule update --init --recursive

Install deb dependencies

sudo apt-get install git-lfs
git lfs install --skip-repo

sudo apt install vpi3-dev libnvvpi3 ros-humble-isaac-ros-nitros \
ros-humble-isaac-ros-managed-nitros ros-humble-isaac-ros-nitros-image-type \
ros-humble-isaac-ros-nitros-camera-info-type -y
sudo apt install libbenchmark-dev ros-humble-foxglove-bridge ros-humble-nav2-costmap-2d libgoogle-glog-dev -y

sudo apt install libgflags-dev nlohmann-json3-dev \
ros-humble-image-transport ros-humble-image-publisher ros-humble-camera-info-manager \
ros-humble-diagnostic-updater ros-humble-diagnostic-msgs ros-humble-statistics-msgs \
ros-humble-backward-ros libdw-dev ros-humble-image-transport \
ros-humble-image-transport-plugins ros-humble-compressed-image-transport \
ros-humble-rqt-tf-tree -y
sudo apt install ros-humble-rqt-image-view ros-humble-rviz2 clang-format -y

Install udev rules.

cd /home/orbbec/Documents/orbbec/opdk/src/OrbbecSDK_ROS2/orbbec_camera/scripts
sudo bash install_udev_rules.sh
sudo udevadm control --reload-rules && sudo udevadm trigger

Build Workspace

cd /home/orbbec/Documents/orbbec/opdk
colcon build --packages-skip nvblox_test_data nvblox_test --event-handlers  console_direct+  --cmake-args  -DCMAKE_BUILD_TYPE=Release

Getting start

• Run all opdk nodes

cd /home/orbbec/Documents/orbbec/opdk
source install/setup.bash
ros2 launch isaac_orbbec_launch orbbec_perceptor.launch.py dev_matrices:=config/dev_matrices_SN1423724335594.yaml

Another step-by-step execution method

• Run static TF broadcast

cd /home/orbbec/Documents/orbbec/opdk/install/isaac_orbbec_launch/share/isaac_orbbec_launch/launch
python base_static_transforms_publisher.py --dev_matrices=/home/orbbec/Documents/orbbec/opdk/install/isaac_orbbec_launch/share/isaac_orbbec_launch/config/dev_matrices_SN1423724335594.yaml

• Run 4 cameras launch

cd /home/orbbec/Documents/orbbec/opdk
source install/setup.bash
ros2 launch orbbec_camera multi_camera_synced.launch.py

• Run Nvblox and cuVSLAM

cd /home/orbbec/Documents/orbbec/opdk
source install/setup.bash
ros2 launch isaac_ros_perceptor_bringup rgbd_perceptor.launch.py config_file:=/home/orbbec/Documents/orbbec/opdk/install/isaac_orbbec_launch/share/isaac_orbbec_launch/param/orbbec_perceptor_detached.yaml

• Run cuVSLAM without Nvblox

cd /home/orbbec/Documents/orbbec/opdk
source install/setup.bash
ros2 launch isaac_ros_perceptor_bringup rgbd_perceptor.launch.py config_file:=/home/orbbec/Documents/orbbec/opdk/install/isaac_orbbec_launch/share/isaac_orbbec_launch/param/orbbec_perceptor_detached.yaml disable_nvblox:=true

• Visualize the TF frame hierarchy using rqt_tf_tree with forced discovery.

ros2 run rqt_tf_tree rqt_tf_tree --force-discover

• View the output Pose from cuVSLAM, which is of type nav_msgs/msg/Odometry.

cd /home/orbbec/Documents/orbbec/opdk
source install/setup.bash
ros2 topic echo /visual_slam/tracking/odometry --no-arr

FAQ

1. How to check the SN number of Orin device?

cat /sys/firmware/devicetree/base/serial-number

2. How to check the USB port number and SN number of the camera?

ros2 run orbbec_camera list_devices_node

3. How to switch the camera external parameter file when starting launch?

ros2 launch isaac_orbbec_launch orbbec_perceptor.launch.py dev_matrices:=config/dev_matrices_SN1423724335594.yaml

Replace dev_matrices_SN1423724335594.yaml with the external reference yaml file of the current device.

For example:

ros2 launch isaac_orbbec_launch orbbec_perceptor.launch.py dev_matrices:=config/dev_matrices_SN1423624327954.yaml

4. How does the camera use specific camera parameter configuration yaml files?

For example, if you want to run the configuration of cuvslam+nvblox 640*360 60fps, open multi_camera_synced.launch.py and replace camera_params.yaml with camera_params_cuvslam_nvblox-640_360_60fps.yaml

5. How to determine the topic frame rate?

For example, if you want to check the frame rate of the depth stream of left_camera:

ros2 topic hz /left_camera/depth/image_raw

6. Nvblox topic content judgment

Isaac ROS Nvblox Topics and Services

a. /nvblox_node/color_layer：Pointcloud visualizing color voxels.

b./nvblox_node/dynamic_occupancy_layer：A pointcloud of the people/dynamic occupancy map (only voxels with occupation probability > 0.5).

c. /nvblox_node/combined_esdf_pointcloud：A pointcloud of the combined static and people/dynamic 2D ESDF (minimal distance of both), with intensity as the metric distance to the nearest obstacle or person.

Effect of subscribing to two topics at the same time：

7. VSLAM content judgment

Isaac ROS Visual SLAM

The normal operation of VSLAM mainly depends on whether the odom data is updated normally:

ros2 topic echo /visual_slam/tracking/odometry

8. OrbbecSDK log storage and analysis

Modify OrbbecSDKConfig_v2.0.xml in the OrbbecSDK_ROS2 package and change FileLogLevel to 0

Then recompile and start the camera, and you can see the camera log file OrbbecSDK.log.txt in the Log folder in the opdk folder

9. If you find that the ros2 topic hz frame rate is not as expected, check whether the following optimization points are still effective

Optimizing FastDDS：https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/docs/fastdds_tuning.md

Increase the usb cache to 128MB:

sudo vi /etc/systemd/system/usbfs_memory_fix.service

add the following to usbfs_memory_fix.service

[Unit]
Description=Set USBFS memory limit
After=sysinit.target

[Service]
Type=oneshot
ExecStart=/bin/bash -c "echo 128 | tee /sys/module/usbcore/parameters/usbfs_memory_mb"
RemainAfterExit=yes

[Install]
WantedBy=multi-user.target

Reload systemd

sudo systemctl daemon-reload

Start the service to verify operation

sudo systemctl start usbfs_memory_fix.service

Check whether it works

cat /sys/module/usbcore/parameters/usbfs_memory_mb

Enable the service to start automatically at boot

sudo systemctl enable usbfs_memory_fix.service

Verify service status

sudo systemctl status usbfs_memory_fix.service

After the system restarts, check again

cat /sys/module/usbcore/parameters/usbfs_memory_mb