ROS Depth Camera Tutorial (rospy)

Author: Huanyu Li, ChatGPT

This repository provides a tutorial on using a depth camera with ROSpy in ROS Noetic. It covers setting up a ROS package, publishing depth images, creating custom messages and services, and processing depth data.

Repository Structure

camera_tutorial/
│── src/
│   │
│── msg/
│   ├── MyMsg.msg           # Custom message definition
│── srv/
│   ├── Mysrv.srv         # Custom service definition
│── launch/
│   ├── k4a.launch      # Launch file for nodes
│── CMakeLists.txt
│── package.xml
│── README.md

---

Installation & Setup

Before build the docker

add this into your bashrc

if [ -f "/dev_ws/setup.bash" ]; then
    source /dev_ws/setup.bash
fi

How to build the container

To build the image.

.docker/build_image.sh

To run the image.

.docker/run_user.sh

You may need to change the owner of the dev_ws, copy the line showing on the terminal.

sudo chown -R [YOUR USER NAME] /dev_ws

Start a terminal

terminator

Running the Nodes

Camera Driver

roslaunch zed_mini driver.launch 

RQT

rqt

rviz

rviz

---

Custom Message & Service

Custom Message (MyMsg)

Header header
sensor_msgs/Image depth_image
float32 min_range
float32 max_range

Custom Service (MySrv)

sensor_msgs/Image depth_image  # Request
---
float32 average_depth          # Response

---

License

This project is licensed under the MIT License – see the LICENSE file for details.