작성자: 박준규

최초작성: 2023.03.22 (수)

<aside> 💡 기계공학과 현재상 교수님께서 Orbbec Astra Plus 뎁스 카메라를 지원해주셨습니다.

</aside>

우분투에서 한글 키보드 씹힘 이슈가 있어 이제부터 영어로 작성하겠습니다.

<aside> 💡 This camera is an RGB-D camera.

</aside>

Download the Orbbec SDK for ROS2:

https://orbbec3d.com/index/download.html

OpenNI_SDK_ROS2_v1.0.2_20220809_b32e47_linux.tar.gz

The Orbbec SDK officially supports ROS2 Galactic + Ubuntu 20.04, but it should work fine on our system since we are using the same Ubuntu version ← (뇌피셜)

Extract the tar.gz file and open the README.md file.

<aside> 💡 The below are basically the same as the README file, but with minor changes to make sure it works with ROS2 Foxy. 무지성으로 read me 파일 따라하긴 했습니다 ㅎ

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Install additional dependencies:

1. Install dependencies

   sudo apt install libgflags-dev nlohmann-json3-dev \\
   ros-foxy-image-transport ros-foxy-image-publisher
   

   image transport and image publisher should already be installed.

2. Install glog

   cd ~
   wget -c <https://github.com/google/glog/archive/refs/tags/v0.6.0.tar.gz>  -O glog-0.6.0.tar.gz
   tar -xzvf glog-0.6.0.tar.gz
   cd glog-0.6.0
   mkdir build && cd build
   cmake .. && make -j4
   sudo make install
   sudo ldconfig  # Refreshing the link library