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ifm3d_ros_examples package from ifm3d repoifm3d-ros ifm3d_ros_driver ifm3d_ros_examples ifm3d_ros_msgs |
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Package Summary
| Tags | No category tags. |
| Version | 0.2.0 |
| License | Apache 2 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ifm/ifm3d-ros.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-06-25 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
ifm3d_ros examples subpackage
Additional Links
Maintainers
- ifm robotics group
Authors
- ifm robotics group
The ifm3d_ros_examples package
This package provides examples and helper scripts for using the ifm O3R camera platform.
Launchfiles
Please see the list below for launch files shipped with the examples package:
| Name | Description |
|---|---|
nodelet.launch |
This is handling the nodelet manager which makes it possible to launch a nodelet similarly as you would a simple node. |
camera_3d.launch |
Launches a single 3d camera stream - so only 3D data data. This launch file is comparable to a single camera setup (O3Ds and O3Xs) |
camera_2d.launch |
Launches a single 2d camera stream - so only 2D RGB data. This launch file is comparable to a single camera setup (O3Ds and O3Xs) |
Nodelet launch structure
Note: The O3R platform can handle multiple data streams.*
Thecamera_3d.launchfile only launches a node for one data stream, on the default pcic port 50010. To launch a node for a different port, use:
$ roslaunch ifm3d_ros_driver camera_3d.launch pcic_port:=<PORT_NUMBER>
The launch file(s) encapsulate several features:
- It (partially) exposes the
camera_nodeletparameters as command-line arguments for ease of runtime configuration. - It instantiates a nodelet manager which the
camera_nodeletwill be loaded into. - It launches the camera nodelet itself.
- It publishes the static transform from the camera’s optical frame to a traditional ROS sensor frame as a tf2
static_transform_publisher.
You can either use this launch file directly, or, use it as a basis for integrating ifm3d_ros into your own robot software system.
Note: the O3R camera heads carry two imagers, a 3D time-of-flight and a RGB imager.
We provide the camer_2d.launch launchfile to handle the RGB image (we assume it is plugged in port 0).
Building launch files distributed systems
Note: This is WIR. We are currently working on Docker images which will allow you an easy deployment of our ROS node to the VPU.
LICENSE
Please see the file called LICENSE.
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| tf | |
| ifm3d_ros_driver | |
| ifm3d_ros_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| ifm3d-ros |
Launch files
- launch/camera_2d.launch
-
- namespace [default: ifm3d_ros_driver] — Desired namespace for the camera nodelet
- nodelet_name [default: camera]
- ip [default: 192.168.0.69] — The IP address of the VPU.
- xmlrpc_port [default: 80] — The TCP port the camera's xmlrpc server is listening on for requests.
- pcic_port [default: 50010] — The TCP (data) port the camera's pcic server is listening on for requests.
- password [default: ] — The password required to establish an edit session on the VPU
- timeout_millis [default: 500] — The number of milliseconds to wait for the framegrabber to return new frame data before declaring a "timeout" and to stop blocking on new data.
- timeout_tolerance_secs [default: 5.0] — The wall time to wait with no new data from the camera before trying to establish a new connection to the camera.
- frame_id_base [default: $(arg namespace)/$(arg nodelet_name)] — This string provides a prefix into the `tf` tree for `ifm3d-ros` coordinate frames.
- respawn [default: false] — Restart the node automatically if it quits.
- assume_sw_triggered [default: false] — This mode means the driver of the the camera is configured for software triggering (as opposed to free running and hardware triggered modes - will follow soon).
- xyz_image_stream [default: false] — Enable xyz image streaming for 3D camera camera streams.
- confidence_image_stream [default: false] — Enable confidence image streaming for 3D camera camera streams.
- radial_distance_image_stream [default: false] — Enable radial distance image streaming for 3D camera camera streams.
- radial_distance_noise_stream [default: false] — Enable distance noise image streaming for 3D camera camera streams.
- amplitude_image_stream [default: false] — Enable amplitude image streaming for 3D camera camera streams.
- extrinsic_image_stream [default: false] — Enable extrinsic values streaming for 3D camera camera streams.
- intrinsic_image_stream [default: false] — Enable intrinsic values streaming for 3D camera camera streams.
- rgb_image_stream [default: true] — Enable rgb image streaming for 3D camera camera streams.
- launch/nodelet.launch
-
- camera [default: camera]
- ip [default: 192.168.0.69] — The IP address of the VPU.
- xmlrpc_port [default: 80] — The TCP port the camera's xmlrpc server is listening on for requests.
- pcic_port [default: 50010] — The TCP (data) port the camera's pcic server is listening on for requests.
- password [default: ] — The password required to establish an edit session on the VPU
- imager_type [default: 3D] — The imager type of the requested camera head
- timeout_millis [default: 500] — The number of milliseconds to wait for the framegrabber to return new frame data before declaring a "timeout" and to stop blocking on new data.
- timeout_tolerance_secs [default: 5.0] — The wall time to wait with no new data from the camera before trying to establish a new connection to the camera. This helps to provide robustness against camera cables becoming unplugged or other in-field pathologies which would cause the connection between the ROS node and the camera to be broken.
- respawn [default: false] — Restart the node automatically if it quits.
- assume_sw_triggered [default: false] — This provides a hint to the driver that the camera is configured for software triggering (as opposed to free running). In this mode, certain default values are applied to lessen the noise in terms of timeouts from the frame grabber.
- frame_id_base [default: ifm3d/$(arg camera)]
- xyz_image_stream [default: true] — Enable xyz image streaming for 3D camera camera streams.
- confidence_image_stream [default: true] — Enable confidence image streaming for 3D camera camera streams.
- radial_distance_image_stream [default: true] — Enable radial distance image streaming for 3D camera camera streams.
- radial_distance_noise_stream [default: true] — Enable distance noise image streaming for 3D camera camera streams.
- amplitude_image_stream [default: true] — Enable amplitude image streaming for 3D camera camera streams.
- extrinsic_image_stream [default: true] — Enable extrinsic values streaming for 3D camera camera streams.
- intrinsic_image_stream [default: false] — Enable intrinsic values streaming for 3D camera camera streams.
- rgb_image_stream [default: false] — Enable rgb image streaming for 3D camera camera streams.
- launch/camera_3d.launch
-
- namespace [default: ifm3d_ros_driver] — Desired namespace for the camera nodelet
- nodelet_name [default: camera]
- ip [default: 192.168.0.69] — The IP address of the VPU.
- xmlrpc_port [default: 80] — The TCP port the camera's xmlrpc server is listening on for requests.
- pcic_port [default: 50010] — The TCP (data) port the camera's pcic server is listening on for requests.
- password [default: ] — The password required to establish an edit session on the VPU
- timeout_millis [default: 500] — The number of milliseconds to wait for the framegrabber to return new frame data before declaring a "timeout" and to stop blocking on new data.
- timeout_tolerance_secs [default: 5.0] — The wall time to wait with no new data from the camera before trying to establish a new connection to the camera.
- frame_id_base [default: $(arg namespace)/$(arg nodelet_name)] — This string provides a prefix into the `tf` tree for `ifm3d-ros` coordinate frames.
- respawn [default: false] — Restart the node automatically if it quits.
- assume_sw_triggered [default: false] — This mode means the driver of the the camera is configured for software triggering (as opposed to free running and hardware triggered modes - will follow soon).
- xyz_image_stream [default: true] — Enable xyz image streaming for 3D camera camera streams.
- confidence_image_stream [default: true] — Enable confidence image streaming for 3D camera camera streams.
- radial_distance_image_stream [default: true] — Enable radial distance image streaming for 3D camera camera streams.
- radial_distance_noise_stream [default: true] — Enable distance noise image streaming for 3D camera camera streams.
- amplitude_image_stream [default: true] — Enable amplitude image streaming for 3D camera camera streams.
- extrinsic_image_stream [default: true] — Enable extrinsic values streaming for 3D camera camera streams.
- intrinsic_image_stream [default: false] — Enable intrinsic values streaming for 3D camera camera streams.
- rgb_image_stream [default: false] — Enable rgb image streaming for 3D camera camera streams.
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged ifm3d_ros_examples at Robotics Stack Exchange
No version for distro galactic. Known supported distros are highlighted in the buttons above.
|
|
ifm3d_ros_examples package from ifm3d repoifm3d-ros ifm3d_ros_driver ifm3d_ros_examples ifm3d_ros_msgs |
|
|
Package Summary
| Tags | No category tags. |
| Version | 0.2.0 |
| License | Apache 2 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ifm/ifm3d-ros.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-06-25 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration : 0 / 0 |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
ifm3d_ros examples subpackage
Additional Links
Maintainers
- ifm robotics group
Authors
- ifm robotics group
The ifm3d_ros_examples package
This package provides examples and helper scripts for using the ifm O3R camera platform.
Launchfiles
Please see the list below for launch files shipped with the examples package:
| Name | Description |
|---|---|
nodelet.launch |
This is handling the nodelet manager which makes it possible to launch a nodelet similarly as you would a simple node. |
camera_3d.launch |
Launches a single 3d camera stream - so only 3D data data. This launch file is comparable to a single camera setup (O3Ds and O3Xs) |
camera_2d.launch |
Launches a single 2d camera stream - so only 2D RGB data. This launch file is comparable to a single camera setup (O3Ds and O3Xs) |
Nodelet launch structure
Note: The O3R platform can handle multiple data streams.*
Thecamera_3d.launchfile only launches a node for one data stream, on the default pcic port 50010. To launch a node for a different port, use:
$ roslaunch ifm3d_ros_driver camera_3d.launch pcic_port:=<PORT_NUMBER>
The launch file(s) encapsulate several features:
- It (partially) exposes the
camera_nodeletparameters as command-line arguments for ease of runtime configuration. - It instantiates a nodelet manager which the
camera_nodeletwill be loaded into. - It launches the camera nodelet itself.
- It publishes the static transform from the camera’s optical frame to a traditional ROS sensor frame as a tf2
static_transform_publisher.
You can either use this launch file directly, or, use it as a basis for integrating ifm3d_ros into your own robot software system.
Note: the O3R camera heads carry two imagers, a 3D time-of-flight and a RGB imager.
We provide the camer_2d.launch launchfile to handle the RGB image (we assume it is plugged in port 0).
Building launch files distributed systems
Note: This is WIR. We are currently working on Docker images which will allow you an easy deployment of our ROS node to the VPU.
LICENSE
Please see the file called LICENSE.
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| tf | |
| ifm3d_ros_driver | |
| ifm3d_ros_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| ifm3d-ros |
Launch files
- launch/camera_2d.launch
-
- namespace [default: ifm3d_ros_driver] — Desired namespace for the camera nodelet
- nodelet_name [default: camera]
- ip [default: 192.168.0.69] — The IP address of the VPU.
- xmlrpc_port [default: 80] — The TCP port the camera's xmlrpc server is listening on for requests.
- pcic_port [default: 50010] — The TCP (data) port the camera's pcic server is listening on for requests.
- password [default: ] — The password required to establish an edit session on the VPU
- timeout_millis [default: 500] — The number of milliseconds to wait for the framegrabber to return new frame data before declaring a "timeout" and to stop blocking on new data.
- timeout_tolerance_secs [default: 5.0] — The wall time to wait with no new data from the camera before trying to establish a new connection to the camera.
- frame_id_base [default: $(arg namespace)/$(arg nodelet_name)] — This string provides a prefix into the `tf` tree for `ifm3d-ros` coordinate frames.
- respawn [default: false] — Restart the node automatically if it quits.
- assume_sw_triggered [default: false] — This mode means the driver of the the camera is configured for software triggering (as opposed to free running and hardware triggered modes - will follow soon).
- xyz_image_stream [default: false] — Enable xyz image streaming for 3D camera camera streams.
- confidence_image_stream [default: false] — Enable confidence image streaming for 3D camera camera streams.
- radial_distance_image_stream [default: false] — Enable radial distance image streaming for 3D camera camera streams.
- radial_distance_noise_stream [default: false] — Enable distance noise image streaming for 3D camera camera streams.
- amplitude_image_stream [default: false] — Enable amplitude image streaming for 3D camera camera streams.
- extrinsic_image_stream [default: false] — Enable extrinsic values streaming for 3D camera camera streams.
- intrinsic_image_stream [default: false] — Enable intrinsic values streaming for 3D camera camera streams.
- rgb_image_stream [default: true] — Enable rgb image streaming for 3D camera camera streams.
- launch/nodelet.launch
-
- camera [default: camera]
- ip [default: 192.168.0.69] — The IP address of the VPU.
- xmlrpc_port [default: 80] — The TCP port the camera's xmlrpc server is listening on for requests.
- pcic_port [default: 50010] — The TCP (data) port the camera's pcic server is listening on for requests.
- password [default: ] — The password required to establish an edit session on the VPU
- imager_type [default: 3D] — The imager type of the requested camera head
- timeout_millis [default: 500] — The number of milliseconds to wait for the framegrabber to return new frame data before declaring a "timeout" and to stop blocking on new data.
- timeout_tolerance_secs [default: 5.0] — The wall time to wait with no new data from the camera before trying to establish a new connection to the camera. This helps to provide robustness against camera cables becoming unplugged or other in-field pathologies which would cause the connection between the ROS node and the camera to be broken.
- respawn [default: false] — Restart the node automatically if it quits.
- assume_sw_triggered [default: false] — This provides a hint to the driver that the camera is configured for software triggering (as opposed to free running). In this mode, certain default values are applied to lessen the noise in terms of timeouts from the frame grabber.
- frame_id_base [default: ifm3d/$(arg camera)]
- xyz_image_stream [default: true] — Enable xyz image streaming for 3D camera camera streams.
- confidence_image_stream [default: true] — Enable confidence image streaming for 3D camera camera streams.
- radial_distance_image_stream [default: true] — Enable radial distance image streaming for 3D camera camera streams.
- radial_distance_noise_stream [default: true] — Enable distance noise image streaming for 3D camera camera streams.
- amplitude_image_stream [default: true] — Enable amplitude image streaming for 3D camera camera streams.
- extrinsic_image_stream [default: true] — Enable extrinsic values streaming for 3D camera camera streams.
- intrinsic_image_stream [default: false] — Enable intrinsic values streaming for 3D camera camera streams.
- rgb_image_stream [default: false] — Enable rgb image streaming for 3D camera camera streams.
- launch/camera_3d.launch
-
- namespace [default: ifm3d_ros_driver] — Desired namespace for the camera nodelet
- nodelet_name [default: camera]
- ip [default: 192.168.0.69] — The IP address of the VPU.
- xmlrpc_port [default: 80] — The TCP port the camera's xmlrpc server is listening on for requests.
- pcic_port [default: 50010] — The TCP (data) port the camera's pcic server is listening on for requests.
- password [default: ] — The password required to establish an edit session on the VPU
- timeout_millis [default: 500] — The number of milliseconds to wait for the framegrabber to return new frame data before declaring a "timeout" and to stop blocking on new data.
- timeout_tolerance_secs [default: 5.0] — The wall time to wait with no new data from the camera before trying to establish a new connection to the camera.
- frame_id_base [default: $(arg namespace)/$(arg nodelet_name)] — This string provides a prefix into the `tf` tree for `ifm3d-ros` coordinate frames.
- respawn [default: false] — Restart the node automatically if it quits.
- assume_sw_triggered [default: false] — This mode means the driver of the the camera is configured for software triggering (as opposed to free running and hardware triggered modes - will follow soon).
- xyz_image_stream [default: true] — Enable xyz image streaming for 3D camera camera streams.
- confidence_image_stream [default: true] — Enable confidence image streaming for 3D camera camera streams.
- radial_distance_image_stream [default: true] — Enable radial distance image streaming for 3D camera camera streams.
- radial_distance_noise_stream [default: true] — Enable distance noise image streaming for 3D camera camera streams.
- amplitude_image_stream [default: true] — Enable amplitude image streaming for 3D camera camera streams.
- extrinsic_image_stream [default: true] — Enable extrinsic values streaming for 3D camera camera streams.
- intrinsic_image_stream [default: false] — Enable intrinsic values streaming for 3D camera camera streams.
- rgb_image_stream [default: false] — Enable rgb image streaming for 3D camera camera streams.
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.