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camera_drivers_experimental: swissranger_camera

Package Summary

This is a port of the older ROS driver for SR devices that used the libusb API. This driver uses the newer libmesasr API (>= 1.0) that can be found at http://www.mesa-imaging.ch/drivers.php. This node is designed to work with the ROS image_pipeline with minimal dependencies. Note: A compile time flag at the top of include/swissranger.h is currently used to switch back and forth between supporting SR3000 and SR4000 devices.

Recent updates changed the published point cloud frame of reference to be the same one used by stereo_image_proc (+x is right, +y is down, +z is forward). This was meant to help beginning users validate the SR data versus a stereo setup.

ROS API

swissranger_camera

The swissranger_camera driver provides a ROS interface for Mesa Imaging SwissRanger devices (3000/4000) that use the libmesasr libraries.

Published Topics

camera_info (sensor_msgs/CameraInfo) distance/image_raw (sensor_msgs/Image) intensity/image_raw (sensor_msgs/Image) pointcloud/cloud_raw (sensor_msgs/PointCloud)

Services

set_camera_info (sensor_msgs/SetCameraInfo)

Parameters

Initial Parameters
These parameters only affect the driver when it starts. ~frame_id (str, default: node name) ~auto_exposure (int, default: 1) ~integration_time (int, default: -1) ~modulation_freq (int, default: -1) ~amp_threshold (int, default: -1)
Reconfigurable Parameters
Currently no reconfigurable parameters.
Calibration Parameters
~camera_info_url (str, default: "")


2011-11-19 12:36