CUBE EYE camera ROS driver(TTF device)

These are packages for using TTF device with ROS

• MDC200DW

Please refer to our website for detailed product specifications. http://www.cube-eye.co.kr

Installation Instructions

The following instructions support ROS Kinetic, on Ubuntu 16.04.

Step 1 : Install the ROS distribution

• Install ROS Kinetic, on Ubuntu 16.04

Step 2 : Install driver

• Create a catkin workspace

$mkdir –p ~/catkin_ws/src
$cd ~/catkin_ws/src/
Copy the driver source to the path(catkin_ws/src)

• driver build

$catkin_init_workspace
$cd ..
$catkin_make clean
$catkin_make -DCMAKE_BUILD_TYPE=Release

• Setting environment

$source env_lib.sh $sudo ttfinstall.sh

Usage Instructions

Connect the camera power and execute the following command

$roslaunch cubeeye_ttf depth_camera.launch

Topics

• /cubeeye/ttf/amplitude_raw : IR Image
• /cubeeye/ttf/depth_raw : Depth Image
• /cubeeye/ttf/points : Point Cloud Image

Operating Test

$rqt
/cubeeye/ttf/amplitude_raw, /cubeeye/ttf/depth_raw

$rosrun rviz rviz
Fixed Frame : pcl
PointCloud2 : /cubeeye/ttf/points

Using Dynamic Reconfigure Params

$rosrun rqt_reconfigure rqt_reconfigure