Development setup for Persee on Linux

Technical Support & Q&A Basic
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If you are using ROS in your development, you can run your x86 machine as your “ROS master” and make Persee connect to the master and publish the depth image message topic. This way you can develop solely on x86 system as if Persee is a camera connected to your x86 system as a ROS node. This only works if you want to have a ROS-based development environment, if not it is too much burden to just transfer the depth image. I hope this helps you or others who want to use Persee with ROS.

Steps:

  • Install Ubuntu (preferably 16.04) on both machines

  • Install ROS (preferably Kinetic) on both machines (see kinetic/Installation/Ubuntu - ROS Wiki). Choose your ROS packets/configuration wisely, Persee has limited space!!

  • Install ROS Astra packages on Persee (sudo apt-get install ros-kinetic-astra-camera ros-kinetic-astra-launch)

  • Run ROS master on x86 (roscore)

  • Make Persee see your x86 as ROS master (export ROS_MASTER_URI=http://ip_of_x86:11311;export ROS_IP=ip_of_persee)

  • In the same terminal as the previous export commands, run Astra camera launch file (roslaunch astra_launch astra.launch)

  • If you see access errors, you may need to set the Astra camera device access using udev rules (see below) or directly on USB devices (sudo chmod 666 /dev/bus/usb/001/ -R or 002, 003 etc.)

  • In x86 see or use the depth image (rosrun image_view image_view image:=/camera/depth/image_raw)

  • In x86 observe the camera topics (rostopic list -v)

  • Wired ethernet connection suggested for fast frame rates, since these topics are not compressed. Or try compressed topics in the list.

  • udev rules in to be put in /etc/udev/rules.d/558-orbbec-usb.rules file:

SUBSYSTEM==“usb”, ATTR{idProduct}==“0401”, ATTR{idVendor}==“2bc5”, MODE:=“0666”, OWNER:=“root”, GROUP:=“video”
SUBSYSTEM==“usb”, ATTR{idProduct}==“0402”, ATTR{idVendor}==“2bc5”, MODE:=“0666”, OWNER:=“root”, GROUP:=“video”
SUBSYSTEM==“usb”, ATTR{idProduct}==“0403”, ATTR{idVendor}==“2bc5”, MODE:=“0666”, OWNER:=“root”, GROUP:=“video”
SUBSYSTEM==“usb”, ATTR{idProduct}==“0404”, ATTR{idVendor}==“2bc5”, MODE:=“0666”, OWNER:=“root”, GROUP:=“video”
SUBSYSTEM==“usb”, ATTR{idProduct}==“0405”, ATTR{idVendor}==“2bc5”, MODE:=“0666”, OWNER:=“root”, GROUP:=“video”
SUBSYSTEM==“usb”, ATTR{idProduct}==“0406”, ATTR{idVendor}==“2bc5”, MODE:=“0666”, OWNER:=“root”, GROUP:=“video”
SUBSYSTEM==“usb”, ATTR{idProduct}==“0407”, ATTR{idVendor}==“2bc5”, MODE:=“0666”, OWNER:=“root”, GROUP:=“video”
SUBSYSTEM==“usb”, ATTR{idProduct}==“0408”, ATTR{idVendor}==“2bc5”, MODE:=“0666”, OWNER:=“root”, GROUP:=“video”
SUBSYSTEM==“usb”, ATTR{idProduct}==“0409”, ATTR{idVendor}==“2bc5”, MODE:=“0666”, OWNER:=“root”, GROUP:=“video”
SUBSYSTEM==“usb”, ATTR{idProduct}==“040a”, ATTR{idVendor}==“2bc5”, MODE:=“0666”, OWNER:=“root”, GROUP:=“video”

Good luck! :smiley:

Turgay

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