GenTL camera wrapper for ROS

This package provides a wrapper for cameras using the Etherned-based GenTL interface. It supports the recently developed TOF camera of Basler.

INSTALL

1. Copy the package's content to src-directory of your catkin workspace
2. Unpack the file basler-tof-driver-1.0.0-x86_64.tar.gz
3. Copy the archive's directory BaslerToF to /opt, e.g. using: sudo cp -r BaslerTof /opt
4. Run /opt/BaslerToF/bin/IpConfigurator to check the Ethernet connection to your camera
5. Run /opt/BaslerToF/bin/PylonViewerApp to validate the data provided by the Basler TOF driver
6. Run catkin build on top of your src-directory

USING THE WRAPPER

1. roslaunch gentl_tof_driver tof.launch
2. The following topics are published

* /camera/camera_info
* /camera/cloud
* /camera/confidence/image_raw
* /camera/intensity/image_raw
* /tf

The launch file enables to either connect to the first camera detected by the GENICAM interface or explicitely select a camera given its device id (see tof.launch).

PROBLEMS

For any enquiries regarding the connection and driver please refer to the Basler support. This particularly concerns:

1. The camera is not listed by the IpConfigurator
2. The PylonViewerApp does not receive valid camera images/point clouds

CONTACT

Authors: Jan Frost (jan.frost@draeger.com), Lasse Hansen, Joscha Stelljes Maintainer: Marian Himstedt (himstedt@iti.uni-luebeck.de)