The ifm3d_ros_examples package

This package provides examples and helper scripts for using the ifm O3R camera platform.

Launchfiles

Please see the list below for launch files shipped with the examples package:

Name

Description

nodelet.launch

This is handling the nodelet manager which makes it possible to launch a nodelet similarly as you would a simple node.

camera_3d.launch

Launches a single 3d camera stream - so only 3D data data. This launch file is comparable to a single camera setup (O3Ds and O3Xs)

camera_2d.launch

Launches a single 2d camera stream - so only 2D RGB data. This launch file is comparable to a single camera setup (O3Ds and O3Xs)

Nodelet launch structure

Note: The O3R platform can handle multiple data streams.*
The camera_3d.launch file only launches a node for one data stream, on the default pcic port 50010. To launch a node for a different port, use:

$ roslaunch ifm3d_ros_driver camera_3d.launch pcic_port:=<PORT_NUMBER>

The launch file(s) encapsulate several features:

  1. It (partially) exposes the camera_nodelet parameters as command-line arguments for ease of runtime configuration.

  2. It instantiates a nodelet manager which the camera_nodelet will be loaded into.

  3. It launches the camera nodelet itself.

  4. It publishes the static transform from the camera’s optical frame to a traditional ROS sensor frame as a tf2 static_transform_publisher.

You can either use this launch file directly, or, use it as a basis for integrating ifm3d_ros into your own robot software system.

Note: the O3R camera heads carry two imagers, a 3D time-of-flight and a RGB imager.

We provide the camer_2d.launch launchfile to handle the RGB image (we assume it is plugged in port 0).

Building launch files distributed systems

Note: This is WIR. We are currently working on Docker images which will allow you an easy deployment of our ROS node to the VPU.

LICENSE

Please see the file called LICENSE.