ifm3d-ros

This documentation is formatted to be read on www.ifm3d.com.

Note

The ifm3d-ros package has had major changes recently. Please be aware that this might cause problems on your system for building pipelines based on our old build instructions.

Compatibility Matrix

Warning

Note that the master branch is generally in a work in progress, and you probably want to use a tagged release version for production.

ifm3d-ros version	ifm3d version	embedded O3R FW version	ROS distribution(s)
1.1.2	1.3.3	1.0.14	ROS Noetic
1.1.1	1.2.6	1.0.14	ROS Noetic
1.1.0 (unreleased)	1.2.3	1.0.x	ROS Noetic
1.0.1	0.93.0	0.14.23	ROS Noetic
1.0.0	0.91.0	0.14.23	ROS Noetic

Internal ifm3d-ros subpackage version structure

Please see the internal subpackage version structure for a known ifm3d-ros version.

ifm3d-ros version	ifm3d_ros_driver	ifm3d_ros_msgs	ifm3d_ros_examples
1.1.2	1.1.1	0.2.0	0.2.0
1.1.1	1.1.1	0.2.0	0.2.0
1.1.0 (unreleased)	1.1.0	0.2.0	0.2.0
1.0.1	1.0.1	0.1.0	0.1.0
1.0.0	0.7.0	0.1.0	0.1.0

Changelogs

• ifm3d-ros: For changes between on the ifm3d-ros node source code, please see the respective information in the CHANGELOG.

• ifm3d: For changes between on the ifm3d API source code, please see the respective information in the ifm3d CHANGELOG.

• O3R firmware: For changes between on the different FW versions, please see the respective information in the FW release notes.

ifm3d-ros for the O3R

ifm3d-ros is a wrapper around ifm3d enabling the usage of the O3R camera platform (ifm ToF cameras) from within ROS software systems. Please make sure to use version or above for O3R compatibility.

NOTE The confidence image handling inside the ifm3d API has changed which results in more valid pixels - for more information see the Release Notes

Organization of the software

The ifm3d-ros meta package provides three subpackages:

• ifm3d_ros_driver provides the core interface for receiving data for ifm 3d (O3R) cameras.

• ifm3d_ros_msgs gathers the ifm-specific messages types and the services for configuring and triggering the camera.

• ifm3d_ros_examples provides additional helper scripts and examples.

The name ifm3d-ros was kept even tough this is not consistent with ROS package naming conventions. This ROS package has been split into three sub packages in an effort to facilitate dependency handling on distributed systems and simplify deployment on embedded platforms. For instance, the package ifm3d_ros_msgs can be installed independently of the other packages to control the camera from a separate computing platform. The ifm3d_ros_examples holds our launch files and examples.

Building and installing the software

• Preparing your system
• Installing the ifm3d-ros node
• Build for distributed systems

LICENSE

Please see the file called LICENSE.