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b/doc/pic/image-20240217191924479-170843334177211.png differ diff --git a/doc/pic/image-20240217191924479.png b/doc/pic/image-20240217191924479.png new file mode 100644 index 0000000000000000000000000000000000000000..fc1b1d80ee33a96d41f7cac16d15953e120bb862 Binary files /dev/null and b/doc/pic/image-20240217191924479.png differ diff --git "a/doc/ubuntu\350\277\220\350\241\214dToF\347\202\271\344\272\221\346\214\207\345\257\274\346\211\213\345\206\214.md" "b/doc/ubuntu\350\277\220\350\241\214dToF\347\202\271\344\272\221\346\214\207\345\257\274\346\211\213\345\206\214.md" new file mode 100644 index 0000000000000000000000000000000000000000..84538c1970a7871672619a3582c5d5c6653e0c1a --- /dev/null +++ "b/doc/ubuntu\350\277\220\350\241\214dToF\347\202\271\344\272\221\346\214\207\345\257\274\346\211\213\345\206\214.md" @@ -0,0 +1,114 @@ +# ubuntu运行dToF点云指导手册-UDP传输 + +1）将单个已经升级固件的dToF模组连接到PC端的USB接口上。**dToF模组正常运行情况下，用安卓手机摄像头对准dToF镜头，会有激光器打光的现象**。 + +![image-20240129150321866](pic/image-20240129150321866-17084333183981.png) + +2）在VMware虚拟机中，启动海思所提供的指定镜像。 + +![image-20240217163108057](pic/image-20240217163108057-17084333200702.png) + +3）启动成功后，点击左上角虚拟机->可移动设备，找到dToF模组的设备名HiEthernet，选择连接（断开与主机的连接），并在弹窗中点击“确定”，dToF模组自动转为与虚拟机连接。 + +![image-20240217151657173](pic/image-20240217151657173-17084333215023.png) + +![image-20240207162759735](pic/image-20240207162759735-17084333230144.png) + +4）点击右上角的网络连接按钮，再点击设置。 + +![image-20240217115157437](pic/image-20240217115157437-17084333244055.png) + +5）点击网络的设置按钮。 + +![image-20240217115406947](pic/image-20240217115406947-17084333260146.png) + +6）点击IPv4，选择手动，**dToF模组的ip地址标注在外壳上**，因为本例中dToF模组的ip地址为192.168.137.3，所以虚拟机的ip地址可配置为192.168.137.111。完成配置后点击应用。 + +![image-20240217134149521](pic/image-20240217134149521-17084333276057.png) + +7）执行以下命令，查看虚拟机是否识别到dToF模组设备的USB转虚拟网口节点，本例中节点名为enxc2e6cd542efb，具体节点名需根据实际情况进行选择。 + +```shell +ifconfig -a +``` + +Snipaste_2024-02-17_16-57-11 + +8）**dToF模组的ip地址标注在外壳上**，因为本例中dToF模组的ip地址为192.168.137.3，所以节点的ip地址配置为192.168.137.100。 + +```shell +sudo ifconfig enxc2e6cd542efb 192.168.137.100 +ifconfig -a +``` + +![image-20240217175242723](pic/image-20240217175242723-17084333317498.png) + +9）配置成功后，执行以下指令检查链路是否链接成功，按住Ctrl+Shift+C（或Ctrl+C）即可中断退出。若ping不通，先将win系统的防火墙关闭。 + +```shell +ping 192.168.137.100 +``` + +![image-20240217175331246](pic/image-20240217175331246-17084333341099.png) + +10）完成上述配置，在主目录下执行以下命令，启动dToF执行文件。出现“绑定自身成功”提示后，表示开启点云数据的UDP传输。 + +> 注：若未出现“绑定自身成功”提示，可再参考上一步验证dToF模组是否还ping通 + +```shell +cd ~ +source install/setup.sh +ros2 launch dtof_client_node dtof_client_node.launch.py +``` + +![image-20240217185043020](pic/image-20240217185043020-170843333583810.png) + +11）**另起一个终端窗口**，执行如下命令查看是否有**/dtof/depth1/image**目录。 + +```shell +ros2 topic list +``` + +Snipaste_2024-02-17_16-48-07 + +12）执行打印点云数据指令，查看dToF的点云数据是否能获取到，并可以按住 Ctrl + Shift+C （或Ctrl+C）中断退出。 + +```shell +ros2 topic echo /dtof/depth1/image +``` + +Snipaste_2024-02-17_16-49-10 + +13）继续在该窗口中执行下面的命令，发布一个订阅。 + +```shell +ros2 run robot_state_publisher robot_state_publisher --ros-args -p robot_description:="`cat /home/ubuntu/robot.urdf`" +``` + +![image-20240217191924479](pic/image-20240217191924479-170843334177211.png) + +14）再**创建一个新终端窗口**，执行以下的命令，启动RViz，进入以下操作页面。 + +```shell +rviz2 +``` + +![image-20240217191408481](pic/image-20240217191408481-170843334394012.png) + +15）启动RViz后，点击左上角的File，打开default.rviz配置文件。 + +![Snipaste_2024-01-29_18-12-52](pic/Snipaste_2024-01-29_18-12-52.png) + +![Snipaste_2024-01-29_18-13-16](pic/Snipaste_2024-01-29_18-13-16.png) + +16）最后进行如下配置操作，即可出现点云效果。 + +![Snipaste_2024-01-29_18-17-15](pic/Snipaste_2024-01-29_18-17-15.png) + +![Snipaste_2024-01-29_18-18-20](pic/Snipaste_2024-01-29_18-18-20.png) + +![Snipaste_2024-01-29_18-19-52](pic/Snipaste_2024-01-29_18-19-52.png) + +![Snipaste_2024-01-29_18-20-47](pic/Snipaste_2024-01-29_18-20-47.png) + 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