ros2_thetav

ROS2 node to publish image topic from RICOH THETA V on Ubuntu22.04 ROS2-Humble. This is unofficial package.

This node publish sensor_msgs/msg/Image topic named "thetav", the format is RGB8.

Build

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. Build and install richoapi/libuvc-theta.

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

3. Clone this repository, and build.

$ cd ~/ros2_ws/src
$ git clone https://github.com/itsuka-to/ros2_thetav.git
$ cd ~/ros2_ws
$ colcon build --symlink-install
$ . install/setup.bash

Run

1. Check that your ThetaV is Live-Streaming-Mode, and run!

$ ros2 run ros2_thetav thetav_publisher

2. If you want to check image outputs, launch rviz2.

# another terminal
$ cd ~/ros2_ws
$ . install/setup.bash
$ rviz2

And "Add" -> "By topic" -> "/thetav -> Image"

Trouble Shooting

Error while loading shared libraries

$ ros2 run ros2_thetav thetav_publisher
> {your_ws}/install/ros2_thetav/lib/ros2_thetav/thetav_publisher: error while loading shared libraries: libuvc.so.0: cannot open shared object file: No such file or directory

You need link libuvc.so.0

$ sudo nano /etc/ld.so.conf

# And ADD this at the end line(because your libuvc.so.0 may exist in here)
/usr/local/lib

$ ldconfig

Reference

ricohapi/libuvc-theta-sample

This package use the library which is including this sample code.

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

richoapi/libuvc-theta

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