ROS interface for the Roboception rc_visard 3D sensor.
Please also consult the manual for more details: https://doc.rc-visard.com
Nodelet/node providing a ROS interface to configure the rc_visard and receive images/poses. The minimum ROS version for the driver is Indigo.
This rc_visard_driver depends on
The dependencies can also be installed via rosdep.
rosdep install --from-paths rc_visard_driver --ignore-src rc_visard_driver -r -y
Building and installing the package follows the typical ROS catkin workflow.
As an alternative, the cmake build-flow would be something like
mkdir build && cd build
cmake -DCATKIN_BUILD_BINARY_PACKAGE="1" -DCMAKE_INSTALL_PREFIX="/opt/ros/$ROS_DISTRO" -DCMAKE_PREFIX_PATH="/opt/ros/$ROS_DISTRO" -DCMAKE_BUILD_TYPE=Release ../rc_visard_driver
make
make install
Alternatively, instead of the final make install, you can also use
make package and sudo dpkg -i install ros-indigo-rc-visard-driver_*.deb.
The rc_visard_driver uses rc_genicam_api
for interfacing with the rc_visard sensor via GenICam/GigE Vision and requires a
transport layer called a GenTL producer (shared library with the suffix .cti).
For convenience rc_genicam_api comes with producers from Baumer for common
architectures.
The path to the producer can be set with the GENICAM_GENTL64_PATH
environment variable (or GENICAM_GENTL32_PATH for 32 bit systems).
If not set, rc_visard_driver will fall back to searching for the Baumer
producer where rc_genicam_api is installed.
If the producer .cti can't be found and you will get an error message like
[ERROR] [1512568083.512790905]: rc_visard_driver: No transport layers found in path /opt/ros/indigo/lib/rc_genicam_api
In this case you need either need to actually install rc_genicam_api properly or set the environment variable when running it. E.g. export:
GENICAM_GENTL64_PATH=/path/to/rc_genicam_api/baumer/Ubuntu-14.04/x86_64
See the rc_visard_driver README for more details.
Package with xacro and urdf files for rc_visard_65 and rc_visard_160
Building and installing the package follows the typical ROS catkin workflow.
See the rc_visard_description README for more details.
Package for calibrating the rc_visard to a robot. See the rc_hand_eye_calibration_client README for more details.
This FTP (Focused Technical Project) has received funding from the European Union’s Horizon 2020 research and innovation programme under the project ROSIN with the grant agreement No 732287.
ROSIN: ROS-Industrial Quality-Assured Robot Software Components: http://rosin-project.eu
