eieioF11/theta_driver

ROS driver for RICOH THETA V/Z1

theta_driver

Getting started

with docker

git clone --recursive git@github.com:stella-cv/theta_driver.git
cd theta_driver
docker build -t theta_driver .
docker run --rm -it --net=host --privileged theta_driver
ros2 run theta_driver theta_driver_node

without docker

You need to install the libuvc and it's dependencies before using this package.

1. Install GStreamer-1.0.

sudo apt-get install libgstreamer1.0-0 gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-bad gstreamer1.0-plugins-ugly gstreamer1.0-libav gstreamer1.0-tools gstreamer1.0-x gstreamer1.0-alsa gstreamer1.0-gl gstreamer1.0-gtk3 gstreamer1.0-qt5 gstreamer1.0-pulseaudio libgstreamer-plugins-base1.0-dev

2. https://github.com/ricohapi/libuvc-theta

git clone https://github.com/ricohapi/libuvc-theta.git
cd libuvc-theta
mkdir build
cd build
cmake ..
make && sudo make install

You will also need the sample for the Theta-Z1

3. clone

git clone https://github.com/eieioF11/theta_driver.git
cd theta_driver
git submodule update --init --recursive

4. build

colcon build --symlink-install

Try it with:

ros2 run theta_driver theta_driver_node

or

ros2 launch theta_driver theta_driver.launch.py

And then you can use image_view package, rqt or rviz2 to see the published image.