Arducam ToF and ROS2 installation issue

Raspberry Pi Cameras
1

Hello. I’m trying to install ROS2 to my RaspberryPi 4B by this manual
https://docs.arducam.com/Raspberry-Pi-Camera/Tof-camera/ROS-With-Arducam-ToF-Camera/

At building stage i’m getting an error

pi@raspberrypi4b:~/Arducam_tof_camera/ros2_publisher $ colcon build --merge-install
Starting >>> arducam
— stderr: arducam
CMake Error at /opt/ros/humble/builtin_interfaces/share/builtin_interfaces/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package):
Could not find a configuration file for package “fastcdr” that is
compatible with requested version “”.

The following configuration files were considered but not accepted:

/opt/ros/humble/fastcdr/lib/cmake/fastcdr/fastcdr-config.cmake, version: 1.0.24 (32bit)

Call Stack (most recent call first):
/opt/ros/humble/builtin_interfaces/share/builtin_interfaces/cmake/builtin_interfacesConfig.cmake:41 (include)
/opt/ros/humble/rcl_interfaces/share/rcl_interfaces/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
/opt/ros/humble/rcl_interfaces/share/rcl_interfaces/cmake/rcl_interfacesConfig.cmake:41 (include)
/opt/ros/humble/rcl/share/rcl/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
/opt/ros/humble/rcl/share/rcl/cmake/rclConfig.cmake:41 (include)
/opt/ros/humble/libstatistics_collector/share/libstatistics_collector/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
/opt/ros/humble/libstatistics_collector/share/libstatistics_collector/cmake/libstatistics_collectorConfig.cmake:41 (include)
/opt/ros/humble/rclcpp/share/rclcpp/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
/opt/ros/humble/rclcpp/share/rclcpp/cmake/rclcppConfig.cmake:41 (include)
CMakeLists.txt:17 (find_package)

Failed <<< arducam [8.83s, exited with code 1]

Summary: 0 packages finished [10.2s]
1 package failed: arducam
1 package had stderr output: arducam

pi@raspberrypi4b:~/Arducam_tof_camera/ros2_publisher $ uname -m
aarch64
pi@raspberrypi4b:~/Arducam_tof_camera/ros2_publisher $ lsb_release -a
No LSB modules are available.
Distributor ID: Debian
Description: Debian GNU/Linux 11 (bullseye)
Release: 11
Codename: bullseye
pi@raspberrypi4b:~/Arducam_tof_camera/ros2_publisher $ uname -a
Linux raspberrypi4b 5.15.84-v8+ #1613 SMP PREEMPT Thu Jan 5 12:03:08 GMT 2023 aarch64 GNU/Linux

How to resolve it?

2

sudo apt install python3-colcon-common-extensions
Reading package lists… Done
Building dependency tree… Done
Reading state information… Done
E: Unable to locate package python3-colcon-common-extensions
How to resolve it?

No LSB modules are available.
Distributor ID: Debian
Description: Debian GNU/Linux 11 (bullseye)
Release: 11
Codename: bullseye

Failed <<< arducam [8.83s, exited with code 1]

Summary: 0 packages finished [10.2s]
1 package failed: arducam
1 package had stderr output: arducam

3

You have to use the Raspberry Pi OS (32-bit) bullseye not the 64-bit version

What i did:

Install Raspberry Pi OS (32-bit) bullseye on SD-Card

sudo apt-get update
sudo apt-get upgrade

git clone GitHub - ArduCAM/Arducam_tof_camera
cd Arducam_tof_camera

./Install_dependencies.sh

When you see the reboot prompt, enter y. Raspberry Pi will automatically reboot.

curl -s https://raw.githubusercontent.com/v1ster/rpi-bullseye-ros2/main/install.bash | bash

echo “source /opt/ros/humble/setup.bash” >> ~/.bashrc
echo “export ROS_DOMAIN_ID=7” >> ~/.bashrc
source ~/.bashrc

cd Arducam_tof_camera/ros2_publisher
colcon build --merge-install

. install/setup.bash
ros2 run arducam tof_pointcloud