ROS Wrapper for Inuitive Cameras

Table of Contents

• ROS1 and ROS2 Legacy
• Installation on Ubuntu
  • Step 1: Install ROS2 Humble
  • Step 2: Install Inuitive’s SDK
  • Step 3: Install Inuitive ROS2 wrapper (InuROS)
• Usage
  • Ensure the Inuitive service is running
  • Connect Inuitive camera
  • Execute InuROS (Inuitive’s ROS wrapper)
• InuROS Topics
  • All
  • IR
  • Depth
  • Point Cloud
  • RGB
  • Fisheye (Wide FOV)
  • Features
  • SLAM
  • IMU
  • CNN
• InuROS Configurations
  • Static configurations (requires restart)
  • Runtime configurations
    • RGB Configurations
    • Depth Configurations
    • Depth Filters Configurations
    • Point Cloud Configurations
    • Object Detection Configurations
    • Auto Exposure Control Configurations
    • SLAM Configurations

ROS1 and ROS2 Legacy

Inuitive ROS1 Support

Inuitive supports ROS1 Melodic & Noetic for linux with AMDx64 and ARMx64 CPU architecture. For more info contact us: info@inuitive-tech.com

Inuitive ROS2 Support

Inuitive supports ROS2 Galactic & Humble for linux with AMDx64 and ARMx64 CPU architecture. This document is referencing ROS2 Humble, for more info about using inuitive camera with ROS2 Galactic contact us: info@inuitive-tech.com

Installation on Ubuntu

Step 1: Install ROS2 Humble

• Ubuntu 22.04:

  ROS2 Humble

Step 2: Install Inuitive’s SDK

APT Repository Configuration and Usage Guide

This guide provides instructions on how to configure and use the APT repository hosted on Amazon S3. This repository contains our custom Debian packages that can be installed and managed using the APT package manager.

Configuring your APT sources

To use the APT repository, you need to add it to your list of source repositories on any Debian or Ubuntu system. Follow these steps:

1. Add the GPG Key:

Import the GPG key used to sign our packages. This ensures the authenticity of the packages you download and install.

   wget -O - https://inu-debian-repo-test.s3.ap-south-1.amazonaws.com/public.key | sudo apt-key add -
   

This command downloads and adds the key to your system. This enables APT to verify the integrity and authenticity of packages from our repository.

2. Add the Repository:

Next, add our repository to your APT sources:

    echo "deb [trusted=yes] https://inu-debian-repo-test.s3.ap-south-1.amazonaws.com/" focal main | sudo tee -a /etc/apt/sources.list.d/inu-debian-repo-test.list

This command creates a new source file in apt’s sources.list.d directory and adds our repository URL. It automatically detects your distribution’s codename using lsb_release -cs. If this doesn’t work or you want to target a different distribution, replace $(lsb_release -cs) with the appropriate codename.

3. Update APT Index:

To ensure your package lists are up to date, run:

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