softkinetic_camera

General description

This package implements a node that runs an interactive gesture camera (softkinetic) in ROS

To use this package in ROS, the DepthSenseSDK for linux needs to be downloaded. The download can be found here: http://www.softkinetic.com/fr-be/support/download.aspx?EntryId=517 To download, you will need to create a free account

Parameters

camera_link (string, default: "/softkinetic_link")
The frame ID of the camera.

confidence_threshold (int, default: 150)
Confidence threshold for DepthNode configuration. Sensor noise is filtered by increasing the threshold. Threshold needs to be within [0, 32767].

Published Topics

depth_registered/points (sensor_msgs::PointCloud2)
Publishes point clouds detected by the camera.

rgb_data (sensor_msgs::Image)
Publishes rgb-images in bgr8 encoding.

...

Add a camera to your robot model

Here we explain how to import a softkinetic camera into your robot xacro file. We have only included a descriptor for the Creative Senz3D camera, but addapt it to any Softkinetic camera should be trivial. You just need to import the xacro file describing the camera macro:

  <xacro:include filename="$(find softkinetic_camera)/urdf/senz3d.urdf.xacro"/>

And include it somewhere in your robot description file, e.g.:

  <sensor_senz3d parent="base_link" name="senz3d_camera">
    <origin xyz="0.05 0.0 0.3" rpy="0.0 0.0 0.0"/>
  </sensor_senz3d>