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README.md

Structure-Core-ROS

ROS nodelet for Occipital Structure Core

System Requirements

This code has been tested on Ubuntu 16.04 x86_64 and arm64 using the StructureSDK-CrossPlatform-0.6.1-2.0 package (firmware version 0.9.3).

Prerequisites

  • Install and build the linux version of the Structure SDK as documented in the StructureSDK-CrossPlatform-0.6.1-2.0 package
  • It is strongly recommended to run the Recorder sample application on the target system to confirm everything is working
  • libStructureLinux.so from the Occipital release should be in the library path (e.g. /usr/local/lib)
  • Header files from the Occipital release should be copied into the include/ST directory

Running

The code is structured as a ROS nodelet. A launch file (sc.launch) is provided that launches both the manager and the nodelet. The launch file also loads a yaml file (sc.yaml) that controls the configuration.

$ roslaunch struct_core_ros sc.launch

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