BASED ON : chadrockey/structure_core_ros

Tested on SDK version 0.7.2 (FW: 0.9.7)

To run and build:

1. From your Structure Core SDK download:

sudo DriverAndFirmware/Linux/Install-CoreDriver-Udev-Linux.sh

Scripts/build.sh

mkdir build

cd build

cmake -G'Unix Makefiles' -DCMAKE_BUILD_TYPE=Release ..

make Samples

Check the samples are working (CorePlayground)

2. copy libStructure.so to /usr/local/lib/ (x86_64 or arm, depends on the platform):

sudo cp Libraries/Structure/Linux/x86_64/libStructure.so /usr/local/lib/

or

sudo cp Libraries/Structure/Linux/arm64/libStructure.so /usr/local/lib/

then

sudo ln /usr/local/lib/libStructure.so

3. catkin_make

4. source devel/setup.bash

5. Run

roslaunch structure_core structure_driver.launch

6. Configs can be changed with: structure_prameters.yaml