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ROS With Arducam ToF Camera – for Jetson

ROS jetson

A quick tutorial to help you enable ROS-based development on your Jetson with the state-of-the-art Arducam ToF camera.

About ROS

Robot Operating System (ROS or ros) is an open-source robotics middleware suite. Although ROS is not an operating system (OS) but a set of software frameworks for robot software development, it provides services designed for a heterogeneous computer cluster such as hardware abstraction, low-level device control, implementation of commonly used functionality, message-passing between processes, and package management.

Using ROS2 with Arducam ToF Camera on Jetson

To properly use ROS2 with Arducam ToF Camera, the camera driver and necessary dependencies have to be installed first.

  • If you have NOT installed them yet, start from Step 1. (Step 1, 2, 3 are same commands as those instructed in <>
  • If you have already installed them, please start from Step 4.

Step 1. Pull the repository.

git clone

Step 2. Change the directory to Arducam_tof_camera/jetson

cd Arducam_tof_camera/jetson

Step 3. *Installation (Driver, Dependencies, SDK, OpenCV)*


When you see the reboot prompt, enter y.

Step 4. Installing ROS2

Please refer to ROS official website (shown below) for detailed installing guidance.

Follow the steps accordingly for preparations before installing.

Step 5. Compile & run ROS2 on your Jetson


cd Arducam_tof_camera/tof_ros2_publisher
colcon build --merge-install


ros2 run arducam tof_pointcloud

Step 6. Previewing on your HOST computer

Install ROS2 on your host PC, and run rviz2


Click Add > By topic > Select PointCloud2


Enable PointCloud2, change Fixed Frame to sensor_frame, and change Size (m) to 0.001, and you will see a real-time point cloud preview like the following: