ROS quickstart

Overview

The V2 localization module communicates with the host computer’s ROS SDK over UDP. Its built-in web interface supports mapping, localization, and parameter configuration. The ROS SDK exposes the same capabilities, including mapping, relocalization, and map downloads.

The default web interface is available at 192.168.100.201:9998. Configure the target IP address and port on both the camera and the ROS SDK, and make sure the values match.

Prerequisites

Install the Qt5 Core and Network components and the libzip dependency. The following example uses Ubuntu:

sudo apt install qtbase5-dev qtbase5-dev-tools libqt5network5

Install libzip by following the libzip installation instructions. Then compile the ROS package from /V2-ROS-SDK-service, which is at the same level as src:

catkin_make

Configure and start the node

Check the ROS SDK configuration

Open /V2-ROS-SDK-service/src/lx_camera_ros/launch/mapping.launch. The default camera IP address is 192.168.100.201; if you change the camera IP, update it in this file as well. Set the port to 8001.

Check the network and module parameters

Connect the camera and host computer to the same switch and network segment. In the web interface, open Parameter Configuration, set portCode to 8987, and set portName to the IP address of the host computer network adapter running the ROS SDK.

Start the ROS node

cd /V2-ROS-SDK-service
source devel/setup.bash
roslaunch lx_camera_ros mapping.launch

The terminal displays startup information when the node starts successfully.

Verify communication

Open a new terminal, enter /V2-ROS-SDK-service, and load the environment:

source devel/setup.bash

Subscribe to the storage status topic to verify the communication link. The topic can also be used as a heartbeat and publishes at 2 Hz:

rostopic echo /lx_localization_node/LxCamera_Capacity_Status

Terminal output for the storage status topic

You can also call the following service to read the current map name:

rosservice call /lx_localization_node/LxCamera_GetCurMapname_srv "get_cur_mapname: true"

Build a map and localize

Power on the camera and wait about 30 seconds for the built-in program to start before starting the data-forwarding node.

Start mapping

rosservice call /lx_localization_node/LxCamera_Mapping_srv "status: true mapname: 'test_map'"

After the service returns true, move the platform through the area to capture the map.

Stop mapping

rosservice call /lx_localization_node/LxCamera_Mapping_srv "status: false mapname: 'test_map'"

Wait for the service to return true to confirm that mapping is complete.

Switch to the new map

rosservice call /lx_localization_node/LxCamera_SwitchMap_srv "map_name: 'test_map'"

Send a relocalization pose

orientation.x, orientation.y, orientation.z, and orientation.w are the orientation quaternion. Populate them according to the ROS message format.

rosservice call /lx_localization_node/LxCamera_UploadReloc_srv "pose:
  header:
    seq: 0
    stamp: {secs: 0, nsecs: 0}
    frame_id: 'map'
  pose:
    pose:
      position: {x: 4.5, y: -15.5, z: 0.0}
      orientation: {x: 0.0, y: 0.0, z: 0.694658, w: 0.71934}
    covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]"

Subscribe to live localization results

rostopic echo /lx_localization_node/LxCamera_LocationPoseResult

Troubleshooting

The ROS program cannot compile

Verify that Qt5 and libzip are fully installed, then run catkin_make again.

The ROS SDK does not respond after sending a message

Confirm that the camera and host computer are on the same network segment and that the camera can be opened from the camera host software. Then verify the camera-side and ROS SDK configuration.

A ROS debug message cannot be sent

ROS message formats are strict. Keep the field structure from the example and change only the values required for the test.

Overview

Camera SDK

Camera tools

ROS integration

V2 localization and protocols

ROS quickstart

Overview

Prerequisites

Configure and start the node

Verify communication

Build a map and localize

Troubleshooting

​Overview

​Prerequisites

​Configure and start the node

​Verify communication

​Build a map and localize

​Troubleshooting

Overview

Prerequisites

Configure and start the node

Verify communication

Build a map and localize

Troubleshooting