Analog Devices 3DToF ADTF31xx

Overview

The ADI 3DToF ADTF31xx is a ROS (Robot Operating System) package for working with ADI’s EVAL-ADTF3175D-NXZ ToF sensor. This node captures the Depth and AB frames from the sensor and publishes them as ROS topics. The node uses ADI ToF SDK APIs to capture frames from the sensor. The node publishes Depth and AB Images at different resolutions.

Hardware

• EVAL-ADTF3175D-NXZ Module
• USB Type-C to Type-A cable - with 5gbps data speed support
• Host laptop with intel i5 of higher cpu running Ubuntu-22.04LTS

[!note]
Refer the EVAL-ADTF3175D-NXZ User Guide to ensure the Eval module has adequate power supply during operation.

[!important] The EVAL-ADTF3175D-NXZ Sensor module must have a firmware version of at least 5.2.5.0. Refer to user guide on firmware upgrade, or see upgrading the firmware.

Operation Modes

This package has three different operation modes. Refer to the following intra-links to setup the package accordingly.

1. Camera Sensor Mode
2. File-IO Mode
3. Network Mode

Camera Sensor Mode

The package is built on the sensor module and directly interfaces with the image sensor. The adi_3dtof_nxp_ubuntu_20_04_relx.x.x.img provided for the EVAL-ADTF3175D-NXZ sensor already contains this ROS package and is pre-built. In order to use this package, first we need to connect the sensor to the PC, and then SSH into it:

1. SSH into the Sensor

ssh analog@10.43.0.1
   Password: analog

1. Source ROS Humble

source /opt/ros/humble/install/setup.bash

1. Source the workspace

source ~/ros2_ws/install/setup.bash

1. Launch the adi_3dtof_adtf31xx package.

ros2 launch adi_3dtof_adtf31xx adi_3dtof_adtf31xx_launch.py arg_input_sensor_mode:=0

[!note]
The operation mode is determined by the launch parameter arg_input_sensor_mode:=0. This can be modified in the launch file. Refer to the parameter table to see what other parameters can be passed.

Updating the package

[!warning] The time and date may be incorrect on the sensor and this can cause issues in updating the package. To update the time and date, refer to updating date and time.

In order to update and rebuild package to the latest version, run the following commands:

cd ~/ros2_ws/src/adi_3dtof_adtf31xx
git pull
cd ~/ros2_ws
export MAKEFLAGS="-j1"
colcon build --symlink-install --executor sequential --cmake-args -DCMAKE_BUILD_TYPE=Release -DNXP=1 --packages-up-to adi_3dtof_adtf31xx

File-IO Mode

In this camera mode, the package is built on the Host PC in order to evaluate the properties of the package by running a pre-recorded bin file which contains the outputs from the sensor module.

Building the package for file-io

1. On your PC, create a workspace

mkdir -p ~/ros2_ws/src

1. Clone the repository

cd ~/ros2_ws/src
git clone https://github.com/analogdevicesinc/adi_3dtof_adtf31xx.git -b v2.1.0
cd ..

1. Build the workspace

rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DSENSOR_CONNECTED=False

Running the node in file-io

In order to run the package in file-io, it needs input files provided in the release image. Follow the steps below to use existing bin files, or follow these steps to create your own bin files.

1. Go to the installation directory of the ADI 3DToF ADTF31xx application ~/Analog Devices/ADI3DToFADTF31xx-Rel2.1.0
2. Run the get_videos.sh script which will download the adi_3dtof_input_video_files.zip file in the current directory.
3. Unzip it and copy the directory to ~/ros2_ws/src/adi_3dtof_input_video_files.
4. Update the input file argument arg_in_file_name in the launch file adi_3dtof_adtf31xx_launch.py as per the above file path.
5. Run the following commands:

```bash

Source the workspace

source ~/ros2_ws/install/setup.bash

Launch the package

ros2 launch adi_3dtof_adtf31xx adi_3dtof_adtf31xx_launch.py arg_input_sensor_mode:=2

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