Added ros2 on nxp documentation

Signed-off-by: Vasile Holonec <[email protected]>

Author: VHolonec

README.md

@@ -11,6 +11,10 @@
 
 - In order to prepare the system to run the ROS wrapper in the general catkin workspace make sure to install correctly the following libraries:
 
+### 1.1 Install ROS2 on NXP
+
+- The installation is described on file doc/ros2_on_nxp.md
+
 ## 2. ToF dependency
 ### Download debian package:
 #### For Crosby:

doc/ros2_on_nxp.md

@@ -0,0 +1,83 @@
+# Install tof-ros2 project on NXP camera with ToF
+
+First install an ubuntu image on a sdcard.
+You can take lastest ubuntu image with ToF project from url
+
+[https://github.com/analogdevicesinc/ToF/releases](https://github.com/analogdevicesinc/ToF/releases)
+
+After you login on NXP camera with ubuntu image connect camera
+on network and with usb cable to pc.
+[https://wiki.analog.com/eval-adtf3175-nxz-startup](https://wiki.analog.com/eval-adtf3175-nxz-startup)
+
+Update ToF build to latest release version.
+You can install ToF project from here. 
+[https://github.com/analogdevicesinc/ToF/blob/main/doc/itof/linux_build_instructions.md](https://github.com/analogdevicesinc/ToF/blob/main/doc/itof/linux_build_instructions.md)
+
+Now you can install ros2 on nxp camera.
+The archive with source code of ros2 framework will be written here in this doc.
+It will be on an server and you can get ros2 archive with wget command.
+
+For building ros2 you need colcon build tool.
+You can install colcon from 
+[https://colcon.readthedocs.io/en/released/user/installation.html](https://colcon.readthedocs.io/en/released/user/installation.html)
+For installing colcon you may install curl package and its dependency gnupg package
+
+After install colcon make a directory in home folder
+
+```console
+  mkdir ros2_foxy
+```
+
+Download the ros2 archive with the name scr in ros2_foxy folder.
+
+Extract the archive with the tar command
+
+You will have something like ~/ros2_foxy/src
+
+Now in src folder clone the tof-ros2 project
+
+```console
+  git clone https://github.com/analogdevicesinc/tof-ros2.git
+```
+
+Then install some ros2 library dependencies
+
+```console
+  sudo apt-get install libasio-dev
+  sudo apt install libtinyxml2-dev
+  sudo apt-get install -y liblog4cxx-dev
+  pip3 install lark
+```
+
+Now cd in folder ~/ros2_foxy folder
+
+Build the tof-ros2 project and ros2 archive
+
+```console
+  colcon build --packages-skip-build-finished --packages-up-to tof_ros2cpp
+```
+
+This will install ros2 and tof-ros2 over 100 ros2 packages
+Wait for building the project about one , two hours.
+
+After install the tof-ros2 now you can run the node tof-ros2
+To run the node you must install another package.
+
+```console
+  colcon build --packages-skip-build-finished --packages-up-to ros2run
+```
+
+For run the tof_ros2 project you must run before two commands source and export
+In folder ~/ros2_foxy you run the comands
+
+```console
+  source install/local_setup.sh
+export LD_LIBRARY_PATH="$LD_LIBRARY_PATH;/opt/websockets/lib;/usr/local/lib"
+```
+
+Now you can run the node tof-ros2
+
+```console
+  ros2 run tof_ros2cpp tof_ros2cpp_node config_file=config/config_adsd3500_adsd3100.json mode=1 enable_multithread=true
+```
+