ROS package for the Terabee 3DcamVGA

Supported hardware

This ROS package is supported and tested on:

• Ubuntu x86_64 18.04 with ROS Melodic,
• Ubuntu x86_64 20.04 with ROS Noetic.

This package works with the Terabee 3DcamVGA depth camera device.

Dependencies

The 3DcamVGA software (contains a client API) must be installed in your system. This software is delivered with the 3DcamVGA device.

Build

Clone this project in your workspace:

cd ~/ros_ws/src
git clone [email protected]:Terabee/3DcamVGA-ROS.git

Or, if you prefer to use https to clone::

cd ~/ros_ws/src
git clone https://github.com/Terabee/3DcamVGA-ROS.git

In your workspace, invoke catkin:

cd ~/ros_ws
catkin build
source devel/setup.bash

ROS_VGA_3D_Camera node

To run the node:

rosrun vga_3d_camera camera_node _[param]:=[value]

Possible parameters:

• ip_address_ (string, default: "192.168.1.153") -> ip address of the crozicam

• port_ (integer, default: 8080) -> camera control port

• mode_ (string, default: custom19) -> camera mode

• id_frame_ (string, default: map) -> frame id for point cloud

Published topics:

• /vga_3d_camera/image (sensor_msgs/Image)

• /vga_3d_camera/image/compressed (sensor_msgs/CompressedImage)

• /vga_3d_camera/image/compressed/parameter_descriptions (dynamic_reconfigure/ConfigDescription)

• /vga_3d_camera/image/compressed/parameter_updates (dynamic_reconfigure/Config)

• /vga_3d_camera/image/compressedDepth (sensor_msgs/CompressedImage)

• /vga_3d_camera/image/compressedDepth/parameter_descriptions (dynamic_reconfigure/ConfigDescription)

• /vga_3d_camera/image/compressedDepth/parameter_updates (dynamic_reconfigure/Config)

• /vga_3d_camera/image/theora (theora_image_transport/Packet)

• /vga_3d_camera/image/theora/parameter_descriptions (dynamic_reconfigure/ConfigDescription)

• /vga_3d_camera/image/theora/parameter_updates (dynamic_reconfigure/Config)

• /vga_3d_camera/parameter_descriptions (dynamic_reconfigure/ConfigDescription)

• /vga_3d_camera/parameter_updates (dynamic_reconfigure/Config)

• /vga_3d_camera/pointcloud (sensor_msgs/PointCloud2)

Services

/TempSrv

To run node for temperature service

rosrun vga_3d_camera temperature_service

Call the service with ip address and port as arguments

 rosservice call /TempSrv "ip_address_" port_

Developers rules

On this repo we follow these rules:

• use the GitFlow
• apply Google C++ style guide
• use Angular commit message format