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ensenso_camera package from ensenso_driver repoensenso_camera ensenso_camera_msgs ensenso_camera_test ensenso_description ensenso_driver |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.0.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ensenso/ros_driver.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-30 |
Dev Status | DEVELOPED |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Driver for Ensenso stereo cameras.
Additional Links
Maintainers
- Daniel Saier
- Benjamin Thiemann
Authors
- Ensenso
README
No README found.
See repository README.
CHANGELOG
No CHANGELOG found.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
Name | Deps |
---|---|
ensenso_camera_test | |
ensenso_driver |
Launch files
- launch/calibrate_hand_eye.launch
- Open an Ensenso stereo camera to perform a hand-eye calibration with.
-
- serial [default: ] — Serial of the stereo camera(default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- robot_frame — The robot's base tf frame
- wrist_frame — The robot's wrist tf frame
- is_fixed — The hand-eye calibration type: fixed or moving
- launch/color_point_cloud.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager and run the color_point_cloud Python node.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- settings_stereo [default: ] — JSON file with stereo camera parameters
- settings_mono [default: ] — JSON file with mono camera parameters
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- camera_frame [default: ] — The stereo camera's tf frame (default: optical_frame_SERIAL_STEREO)
- stereo_link_frame [default: ] — The stereo camera's link tf frame (default: camera_frame)
- mono_link_frame [default: ] — The mono camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- mono_capture_timeout [default: 1000] — Capture timeout of the mono camera
- launch/ensenso_N_with_xacro.launch
- Open a workspace calibrated Ensenso N-Series stereo camera and load the corresponding 3D model of the camera via Xacro and publish a tf transform from the camera_frame to the xaxro's reference frame.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: Workspace] — The tf frame the data will be returned in
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- xacro_reference_frame [default: xacro_ref]
- collision_margin [default: 0.03]
- launch/ensenso_X_with_xacro.launch
- Open a workspace calibrated Ensenso X-Series stereo camera and load the corresponding 3D model of the camera via Xacro and publish a tf transform from the camera_frame to the xaxro's reference frame.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: Workspace] — The tf frame the data will be returned in
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- xacro_reference_frame [default: xacro_ref]
- collision_margin [default: 0.03]
- type [default: X200] — Can be X200, X200_xFA, X400, X400_xFA
- launch/file_camera.launch
- Open an Ensenso stereo file camera in a node.
-
- serial [default: stereo_cam] — Serial of the stereo file camera to be created
- path — The path to the stereo file camera directory or zip file
- launch/file_camera_mono.launch
- Open a mono file camera in a node.
-
- serial [default: mono_cam] — Serial of the mono file camera to be created
- path — The path to the mono file camera directory or zip file
- launch/file_mono_stereo_nodelets.launch
- Open both an Ensenso stereo file camera and a mono file camera within the same nodelet manager.
-
- serial_stereo [default: stereo_cam] — Serial of the mono file camera to be created
- serial_mono [default: mono_cam] — Serial of the mono file camera to be created
- path_stereo — The path to the stereo file camera directory or zip file
- path_mono — The path to the mono file camera directory or zip file
- stereo_ns [default: stereo] — Namespace of the stereo file camera
- mono_ns [default: mono] — Namespace of the mono file camera
- camera_frame [default: optical_frame_$(arg serial_stereo)] — The stereo camera's tf frame
- link_frame [default: $(arg camera_frame)] — The stereo camera's link tf frame
- target_frame [default: $(arg camera_frame)] — The tf frame in which the data will be returned
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- launch/mono_stereo_nodelets.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- settings_stereo [default: ] — JSON file with stereo camera parameters
- settings_mono [default: ] — JSON file with mono camera parameters
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- camera_frame [default: ] — The stereo camera's tf frame (default: optical_frame_SERIAL_STEREO)
- stereo_link_frame [default: ] — The stereo camera's link tf frame (default: camera_frame)
- mono_link_frame [default: ] — The mono camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- mono_capture_timeout [default: 1000] — Capture timeout of the mono camera
- launch/nodelet.launch
- Open an Ensenso stereo camera in a nodelet.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- launch/register_depth_image.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager, run the register_depth_image Python node and the depth_image_proc/register node in order to register the depth image from the stereo camera to the mono camera'a frame.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- launch/texture_point_cloud.launch
- Start a texture_point_cloud node and an image_stream node. No camera is opened!
-
- parameter_set [default: texture_point_cloud]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged ensenso_camera at Robotics Stack Exchange
No version for distro jazzy showing lunar. Known supported distros are highlighted in the buttons above.
![]() |
ensenso_camera package from ensenso_driver repoensenso_camera ensenso_camera_msgs ensenso_camera_test ensenso_description ensenso_driver |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.0.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ensenso/ros_driver.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-30 |
Dev Status | DEVELOPED |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Driver for Ensenso stereo cameras.
Additional Links
Maintainers
- Daniel Saier
- Benjamin Thiemann
Authors
- Ensenso
README
No README found.
See repository README.
CHANGELOG
No CHANGELOG found.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
Name | Deps |
---|---|
ensenso_camera_test | |
ensenso_driver |
Launch files
- launch/calibrate_hand_eye.launch
- Open an Ensenso stereo camera to perform a hand-eye calibration with.
-
- serial [default: ] — Serial of the stereo camera(default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- robot_frame — The robot's base tf frame
- wrist_frame — The robot's wrist tf frame
- is_fixed — The hand-eye calibration type: fixed or moving
- launch/color_point_cloud.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager and run the color_point_cloud Python node.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- settings_stereo [default: ] — JSON file with stereo camera parameters
- settings_mono [default: ] — JSON file with mono camera parameters
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- camera_frame [default: ] — The stereo camera's tf frame (default: optical_frame_SERIAL_STEREO)
- stereo_link_frame [default: ] — The stereo camera's link tf frame (default: camera_frame)
- mono_link_frame [default: ] — The mono camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- mono_capture_timeout [default: 1000] — Capture timeout of the mono camera
- launch/ensenso_N_with_xacro.launch
- Open a workspace calibrated Ensenso N-Series stereo camera and load the corresponding 3D model of the camera via Xacro and publish a tf transform from the camera_frame to the xaxro's reference frame.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: Workspace] — The tf frame the data will be returned in
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- xacro_reference_frame [default: xacro_ref]
- collision_margin [default: 0.03]
- launch/ensenso_X_with_xacro.launch
- Open a workspace calibrated Ensenso X-Series stereo camera and load the corresponding 3D model of the camera via Xacro and publish a tf transform from the camera_frame to the xaxro's reference frame.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: Workspace] — The tf frame the data will be returned in
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- xacro_reference_frame [default: xacro_ref]
- collision_margin [default: 0.03]
- type [default: X200] — Can be X200, X200_xFA, X400, X400_xFA
- launch/file_camera.launch
- Open an Ensenso stereo file camera in a node.
-
- serial [default: stereo_cam] — Serial of the stereo file camera to be created
- path — The path to the stereo file camera directory or zip file
- launch/file_camera_mono.launch
- Open a mono file camera in a node.
-
- serial [default: mono_cam] — Serial of the mono file camera to be created
- path — The path to the mono file camera directory or zip file
- launch/file_mono_stereo_nodelets.launch
- Open both an Ensenso stereo file camera and a mono file camera within the same nodelet manager.
-
- serial_stereo [default: stereo_cam] — Serial of the mono file camera to be created
- serial_mono [default: mono_cam] — Serial of the mono file camera to be created
- path_stereo — The path to the stereo file camera directory or zip file
- path_mono — The path to the mono file camera directory or zip file
- stereo_ns [default: stereo] — Namespace of the stereo file camera
- mono_ns [default: mono] — Namespace of the mono file camera
- camera_frame [default: optical_frame_$(arg serial_stereo)] — The stereo camera's tf frame
- link_frame [default: $(arg camera_frame)] — The stereo camera's link tf frame
- target_frame [default: $(arg camera_frame)] — The tf frame in which the data will be returned
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- launch/mono_stereo_nodelets.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- settings_stereo [default: ] — JSON file with stereo camera parameters
- settings_mono [default: ] — JSON file with mono camera parameters
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- camera_frame [default: ] — The stereo camera's tf frame (default: optical_frame_SERIAL_STEREO)
- stereo_link_frame [default: ] — The stereo camera's link tf frame (default: camera_frame)
- mono_link_frame [default: ] — The mono camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- mono_capture_timeout [default: 1000] — Capture timeout of the mono camera
- launch/nodelet.launch
- Open an Ensenso stereo camera in a nodelet.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- launch/register_depth_image.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager, run the register_depth_image Python node and the depth_image_proc/register node in order to register the depth image from the stereo camera to the mono camera'a frame.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- launch/texture_point_cloud.launch
- Start a texture_point_cloud node and an image_stream node. No camera is opened!
-
- parameter_set [default: texture_point_cloud]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged ensenso_camera at Robotics Stack Exchange
No version for distro kilted showing lunar. Known supported distros are highlighted in the buttons above.
![]() |
ensenso_camera package from ensenso_driver repoensenso_camera ensenso_camera_msgs ensenso_camera_test ensenso_description ensenso_driver |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.0.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ensenso/ros_driver.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-30 |
Dev Status | DEVELOPED |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Driver for Ensenso stereo cameras.
Additional Links
Maintainers
- Daniel Saier
- Benjamin Thiemann
Authors
- Ensenso
README
No README found.
See repository README.
CHANGELOG
No CHANGELOG found.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
Name | Deps |
---|---|
ensenso_camera_test | |
ensenso_driver |
Launch files
- launch/calibrate_hand_eye.launch
- Open an Ensenso stereo camera to perform a hand-eye calibration with.
-
- serial [default: ] — Serial of the stereo camera(default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- robot_frame — The robot's base tf frame
- wrist_frame — The robot's wrist tf frame
- is_fixed — The hand-eye calibration type: fixed or moving
- launch/color_point_cloud.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager and run the color_point_cloud Python node.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- settings_stereo [default: ] — JSON file with stereo camera parameters
- settings_mono [default: ] — JSON file with mono camera parameters
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- camera_frame [default: ] — The stereo camera's tf frame (default: optical_frame_SERIAL_STEREO)
- stereo_link_frame [default: ] — The stereo camera's link tf frame (default: camera_frame)
- mono_link_frame [default: ] — The mono camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- mono_capture_timeout [default: 1000] — Capture timeout of the mono camera
- launch/ensenso_N_with_xacro.launch
- Open a workspace calibrated Ensenso N-Series stereo camera and load the corresponding 3D model of the camera via Xacro and publish a tf transform from the camera_frame to the xaxro's reference frame.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: Workspace] — The tf frame the data will be returned in
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- xacro_reference_frame [default: xacro_ref]
- collision_margin [default: 0.03]
- launch/ensenso_X_with_xacro.launch
- Open a workspace calibrated Ensenso X-Series stereo camera and load the corresponding 3D model of the camera via Xacro and publish a tf transform from the camera_frame to the xaxro's reference frame.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: Workspace] — The tf frame the data will be returned in
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- xacro_reference_frame [default: xacro_ref]
- collision_margin [default: 0.03]
- type [default: X200] — Can be X200, X200_xFA, X400, X400_xFA
- launch/file_camera.launch
- Open an Ensenso stereo file camera in a node.
-
- serial [default: stereo_cam] — Serial of the stereo file camera to be created
- path — The path to the stereo file camera directory or zip file
- launch/file_camera_mono.launch
- Open a mono file camera in a node.
-
- serial [default: mono_cam] — Serial of the mono file camera to be created
- path — The path to the mono file camera directory or zip file
- launch/file_mono_stereo_nodelets.launch
- Open both an Ensenso stereo file camera and a mono file camera within the same nodelet manager.
-
- serial_stereo [default: stereo_cam] — Serial of the mono file camera to be created
- serial_mono [default: mono_cam] — Serial of the mono file camera to be created
- path_stereo — The path to the stereo file camera directory or zip file
- path_mono — The path to the mono file camera directory or zip file
- stereo_ns [default: stereo] — Namespace of the stereo file camera
- mono_ns [default: mono] — Namespace of the mono file camera
- camera_frame [default: optical_frame_$(arg serial_stereo)] — The stereo camera's tf frame
- link_frame [default: $(arg camera_frame)] — The stereo camera's link tf frame
- target_frame [default: $(arg camera_frame)] — The tf frame in which the data will be returned
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- launch/mono_stereo_nodelets.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- settings_stereo [default: ] — JSON file with stereo camera parameters
- settings_mono [default: ] — JSON file with mono camera parameters
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- camera_frame [default: ] — The stereo camera's tf frame (default: optical_frame_SERIAL_STEREO)
- stereo_link_frame [default: ] — The stereo camera's link tf frame (default: camera_frame)
- mono_link_frame [default: ] — The mono camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- mono_capture_timeout [default: 1000] — Capture timeout of the mono camera
- launch/nodelet.launch
- Open an Ensenso stereo camera in a nodelet.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- launch/register_depth_image.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager, run the register_depth_image Python node and the depth_image_proc/register node in order to register the depth image from the stereo camera to the mono camera'a frame.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- launch/texture_point_cloud.launch
- Start a texture_point_cloud node and an image_stream node. No camera is opened!
-
- parameter_set [default: texture_point_cloud]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged ensenso_camera at Robotics Stack Exchange
No version for distro rolling showing lunar. Known supported distros are highlighted in the buttons above.
![]() |
ensenso_camera package from ensenso_driver repoensenso_camera ensenso_camera_msgs ensenso_camera_test ensenso_description ensenso_driver |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.0.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ensenso/ros_driver.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-30 |
Dev Status | DEVELOPED |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Driver for Ensenso stereo cameras.
Additional Links
Maintainers
- Daniel Saier
- Benjamin Thiemann
Authors
- Ensenso
README
No README found.
See repository README.
CHANGELOG
No CHANGELOG found.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
Name | Deps |
---|---|
ensenso_camera_test | |
ensenso_driver |
Launch files
- launch/calibrate_hand_eye.launch
- Open an Ensenso stereo camera to perform a hand-eye calibration with.
-
- serial [default: ] — Serial of the stereo camera(default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- robot_frame — The robot's base tf frame
- wrist_frame — The robot's wrist tf frame
- is_fixed — The hand-eye calibration type: fixed or moving
- launch/color_point_cloud.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager and run the color_point_cloud Python node.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- settings_stereo [default: ] — JSON file with stereo camera parameters
- settings_mono [default: ] — JSON file with mono camera parameters
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- camera_frame [default: ] — The stereo camera's tf frame (default: optical_frame_SERIAL_STEREO)
- stereo_link_frame [default: ] — The stereo camera's link tf frame (default: camera_frame)
- mono_link_frame [default: ] — The mono camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- mono_capture_timeout [default: 1000] — Capture timeout of the mono camera
- launch/ensenso_N_with_xacro.launch
- Open a workspace calibrated Ensenso N-Series stereo camera and load the corresponding 3D model of the camera via Xacro and publish a tf transform from the camera_frame to the xaxro's reference frame.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: Workspace] — The tf frame the data will be returned in
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- xacro_reference_frame [default: xacro_ref]
- collision_margin [default: 0.03]
- launch/ensenso_X_with_xacro.launch
- Open a workspace calibrated Ensenso X-Series stereo camera and load the corresponding 3D model of the camera via Xacro and publish a tf transform from the camera_frame to the xaxro's reference frame.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: Workspace] — The tf frame the data will be returned in
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- xacro_reference_frame [default: xacro_ref]
- collision_margin [default: 0.03]
- type [default: X200] — Can be X200, X200_xFA, X400, X400_xFA
- launch/file_camera.launch
- Open an Ensenso stereo file camera in a node.
-
- serial [default: stereo_cam] — Serial of the stereo file camera to be created
- path — The path to the stereo file camera directory or zip file
- launch/file_camera_mono.launch
- Open a mono file camera in a node.
-
- serial [default: mono_cam] — Serial of the mono file camera to be created
- path — The path to the mono file camera directory or zip file
- launch/file_mono_stereo_nodelets.launch
- Open both an Ensenso stereo file camera and a mono file camera within the same nodelet manager.
-
- serial_stereo [default: stereo_cam] — Serial of the mono file camera to be created
- serial_mono [default: mono_cam] — Serial of the mono file camera to be created
- path_stereo — The path to the stereo file camera directory or zip file
- path_mono — The path to the mono file camera directory or zip file
- stereo_ns [default: stereo] — Namespace of the stereo file camera
- mono_ns [default: mono] — Namespace of the mono file camera
- camera_frame [default: optical_frame_$(arg serial_stereo)] — The stereo camera's tf frame
- link_frame [default: $(arg camera_frame)] — The stereo camera's link tf frame
- target_frame [default: $(arg camera_frame)] — The tf frame in which the data will be returned
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- launch/mono_stereo_nodelets.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- settings_stereo [default: ] — JSON file with stereo camera parameters
- settings_mono [default: ] — JSON file with mono camera parameters
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- camera_frame [default: ] — The stereo camera's tf frame (default: optical_frame_SERIAL_STEREO)
- stereo_link_frame [default: ] — The stereo camera's link tf frame (default: camera_frame)
- mono_link_frame [default: ] — The mono camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- mono_capture_timeout [default: 1000] — Capture timeout of the mono camera
- launch/nodelet.launch
- Open an Ensenso stereo camera in a nodelet.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- launch/register_depth_image.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager, run the register_depth_image Python node and the depth_image_proc/register node in order to register the depth image from the stereo camera to the mono camera'a frame.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- launch/texture_point_cloud.launch
- Start a texture_point_cloud node and an image_stream node. No camera is opened!
-
- parameter_set [default: texture_point_cloud]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged ensenso_camera at Robotics Stack Exchange
No version for distro ardent showing lunar. Known supported distros are highlighted in the buttons above.
![]() |
ensenso_camera package from ensenso_driver repoensenso_camera ensenso_camera_msgs ensenso_camera_test ensenso_description ensenso_driver |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.0.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ensenso/ros_driver.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-30 |
Dev Status | DEVELOPED |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Driver for Ensenso stereo cameras.
Additional Links
Maintainers
- Daniel Saier
- Benjamin Thiemann
Authors
- Ensenso
README
No README found.
See repository README.
CHANGELOG
No CHANGELOG found.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
Name | Deps |
---|---|
ensenso_camera_test | |
ensenso_driver |
Launch files
- launch/calibrate_hand_eye.launch
- Open an Ensenso stereo camera to perform a hand-eye calibration with.
-
- serial [default: ] — Serial of the stereo camera(default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- robot_frame — The robot's base tf frame
- wrist_frame — The robot's wrist tf frame
- is_fixed — The hand-eye calibration type: fixed or moving
- launch/color_point_cloud.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager and run the color_point_cloud Python node.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- settings_stereo [default: ] — JSON file with stereo camera parameters
- settings_mono [default: ] — JSON file with mono camera parameters
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- camera_frame [default: ] — The stereo camera's tf frame (default: optical_frame_SERIAL_STEREO)
- stereo_link_frame [default: ] — The stereo camera's link tf frame (default: camera_frame)
- mono_link_frame [default: ] — The mono camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- mono_capture_timeout [default: 1000] — Capture timeout of the mono camera
- launch/ensenso_N_with_xacro.launch
- Open a workspace calibrated Ensenso N-Series stereo camera and load the corresponding 3D model of the camera via Xacro and publish a tf transform from the camera_frame to the xaxro's reference frame.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: Workspace] — The tf frame the data will be returned in
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- xacro_reference_frame [default: xacro_ref]
- collision_margin [default: 0.03]
- launch/ensenso_X_with_xacro.launch
- Open a workspace calibrated Ensenso X-Series stereo camera and load the corresponding 3D model of the camera via Xacro and publish a tf transform from the camera_frame to the xaxro's reference frame.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: Workspace] — The tf frame the data will be returned in
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- xacro_reference_frame [default: xacro_ref]
- collision_margin [default: 0.03]
- type [default: X200] — Can be X200, X200_xFA, X400, X400_xFA
- launch/file_camera.launch
- Open an Ensenso stereo file camera in a node.
-
- serial [default: stereo_cam] — Serial of the stereo file camera to be created
- path — The path to the stereo file camera directory or zip file
- launch/file_camera_mono.launch
- Open a mono file camera in a node.
-
- serial [default: mono_cam] — Serial of the mono file camera to be created
- path — The path to the mono file camera directory or zip file
- launch/file_mono_stereo_nodelets.launch
- Open both an Ensenso stereo file camera and a mono file camera within the same nodelet manager.
-
- serial_stereo [default: stereo_cam] — Serial of the mono file camera to be created
- serial_mono [default: mono_cam] — Serial of the mono file camera to be created
- path_stereo — The path to the stereo file camera directory or zip file
- path_mono — The path to the mono file camera directory or zip file
- stereo_ns [default: stereo] — Namespace of the stereo file camera
- mono_ns [default: mono] — Namespace of the mono file camera
- camera_frame [default: optical_frame_$(arg serial_stereo)] — The stereo camera's tf frame
- link_frame [default: $(arg camera_frame)] — The stereo camera's link tf frame
- target_frame [default: $(arg camera_frame)] — The tf frame in which the data will be returned
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- launch/mono_stereo_nodelets.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- settings_stereo [default: ] — JSON file with stereo camera parameters
- settings_mono [default: ] — JSON file with mono camera parameters
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- camera_frame [default: ] — The stereo camera's tf frame (default: optical_frame_SERIAL_STEREO)
- stereo_link_frame [default: ] — The stereo camera's link tf frame (default: camera_frame)
- mono_link_frame [default: ] — The mono camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- mono_capture_timeout [default: 1000] — Capture timeout of the mono camera
- launch/nodelet.launch
- Open an Ensenso stereo camera in a nodelet.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- launch/register_depth_image.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager, run the register_depth_image Python node and the depth_image_proc/register node in order to register the depth image from the stereo camera to the mono camera'a frame.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- launch/texture_point_cloud.launch
- Start a texture_point_cloud node and an image_stream node. No camera is opened!
-
- parameter_set [default: texture_point_cloud]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged ensenso_camera at Robotics Stack Exchange
No version for distro bouncy showing lunar. Known supported distros are highlighted in the buttons above.
![]() |
ensenso_camera package from ensenso_driver repoensenso_camera ensenso_camera_msgs ensenso_camera_test ensenso_description ensenso_driver |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.0.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ensenso/ros_driver.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-30 |
Dev Status | DEVELOPED |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Driver for Ensenso stereo cameras.
Additional Links
Maintainers
- Daniel Saier
- Benjamin Thiemann
Authors
- Ensenso
README
No README found.
See repository README.
CHANGELOG
No CHANGELOG found.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
Name | Deps |
---|---|
ensenso_camera_test | |
ensenso_driver |
Launch files
- launch/calibrate_hand_eye.launch
- Open an Ensenso stereo camera to perform a hand-eye calibration with.
-
- serial [default: ] — Serial of the stereo camera(default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- robot_frame — The robot's base tf frame
- wrist_frame — The robot's wrist tf frame
- is_fixed — The hand-eye calibration type: fixed or moving
- launch/color_point_cloud.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager and run the color_point_cloud Python node.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- settings_stereo [default: ] — JSON file with stereo camera parameters
- settings_mono [default: ] — JSON file with mono camera parameters
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- camera_frame [default: ] — The stereo camera's tf frame (default: optical_frame_SERIAL_STEREO)
- stereo_link_frame [default: ] — The stereo camera's link tf frame (default: camera_frame)
- mono_link_frame [default: ] — The mono camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- mono_capture_timeout [default: 1000] — Capture timeout of the mono camera
- launch/ensenso_N_with_xacro.launch
- Open a workspace calibrated Ensenso N-Series stereo camera and load the corresponding 3D model of the camera via Xacro and publish a tf transform from the camera_frame to the xaxro's reference frame.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: Workspace] — The tf frame the data will be returned in
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- xacro_reference_frame [default: xacro_ref]
- collision_margin [default: 0.03]
- launch/ensenso_X_with_xacro.launch
- Open a workspace calibrated Ensenso X-Series stereo camera and load the corresponding 3D model of the camera via Xacro and publish a tf transform from the camera_frame to the xaxro's reference frame.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: Workspace] — The tf frame the data will be returned in
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- xacro_reference_frame [default: xacro_ref]
- collision_margin [default: 0.03]
- type [default: X200] — Can be X200, X200_xFA, X400, X400_xFA
- launch/file_camera.launch
- Open an Ensenso stereo file camera in a node.
-
- serial [default: stereo_cam] — Serial of the stereo file camera to be created
- path — The path to the stereo file camera directory or zip file
- launch/file_camera_mono.launch
- Open a mono file camera in a node.
-
- serial [default: mono_cam] — Serial of the mono file camera to be created
- path — The path to the mono file camera directory or zip file
- launch/file_mono_stereo_nodelets.launch
- Open both an Ensenso stereo file camera and a mono file camera within the same nodelet manager.
-
- serial_stereo [default: stereo_cam] — Serial of the mono file camera to be created
- serial_mono [default: mono_cam] — Serial of the mono file camera to be created
- path_stereo — The path to the stereo file camera directory or zip file
- path_mono — The path to the mono file camera directory or zip file
- stereo_ns [default: stereo] — Namespace of the stereo file camera
- mono_ns [default: mono] — Namespace of the mono file camera
- camera_frame [default: optical_frame_$(arg serial_stereo)] — The stereo camera's tf frame
- link_frame [default: $(arg camera_frame)] — The stereo camera's link tf frame
- target_frame [default: $(arg camera_frame)] — The tf frame in which the data will be returned
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- launch/mono_stereo_nodelets.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- settings_stereo [default: ] — JSON file with stereo camera parameters
- settings_mono [default: ] — JSON file with mono camera parameters
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- camera_frame [default: ] — The stereo camera's tf frame (default: optical_frame_SERIAL_STEREO)
- stereo_link_frame [default: ] — The stereo camera's link tf frame (default: camera_frame)
- mono_link_frame [default: ] — The mono camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- mono_capture_timeout [default: 1000] — Capture timeout of the mono camera
- launch/nodelet.launch
- Open an Ensenso stereo camera in a nodelet.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- launch/register_depth_image.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager, run the register_depth_image Python node and the depth_image_proc/register node in order to register the depth image from the stereo camera to the mono camera'a frame.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- launch/texture_point_cloud.launch
- Start a texture_point_cloud node and an image_stream node. No camera is opened!
-
- parameter_set [default: texture_point_cloud]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged ensenso_camera at Robotics Stack Exchange
No version for distro crystal showing lunar. Known supported distros are highlighted in the buttons above.
![]() |
ensenso_camera package from ensenso_driver repoensenso_camera ensenso_camera_msgs ensenso_camera_test ensenso_description ensenso_driver |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.0.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ensenso/ros_driver.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-30 |
Dev Status | DEVELOPED |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Driver for Ensenso stereo cameras.
Additional Links
Maintainers
- Daniel Saier
- Benjamin Thiemann
Authors
- Ensenso
README
No README found.
See repository README.
CHANGELOG
No CHANGELOG found.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
Name | Deps |
---|---|
ensenso_camera_test | |
ensenso_driver |
Launch files
- launch/calibrate_hand_eye.launch
- Open an Ensenso stereo camera to perform a hand-eye calibration with.
-
- serial [default: ] — Serial of the stereo camera(default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- robot_frame — The robot's base tf frame
- wrist_frame — The robot's wrist tf frame
- is_fixed — The hand-eye calibration type: fixed or moving
- launch/color_point_cloud.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager and run the color_point_cloud Python node.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- settings_stereo [default: ] — JSON file with stereo camera parameters
- settings_mono [default: ] — JSON file with mono camera parameters
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- camera_frame [default: ] — The stereo camera's tf frame (default: optical_frame_SERIAL_STEREO)
- stereo_link_frame [default: ] — The stereo camera's link tf frame (default: camera_frame)
- mono_link_frame [default: ] — The mono camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- mono_capture_timeout [default: 1000] — Capture timeout of the mono camera
- launch/ensenso_N_with_xacro.launch
- Open a workspace calibrated Ensenso N-Series stereo camera and load the corresponding 3D model of the camera via Xacro and publish a tf transform from the camera_frame to the xaxro's reference frame.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: Workspace] — The tf frame the data will be returned in
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- xacro_reference_frame [default: xacro_ref]
- collision_margin [default: 0.03]
- launch/ensenso_X_with_xacro.launch
- Open a workspace calibrated Ensenso X-Series stereo camera and load the corresponding 3D model of the camera via Xacro and publish a tf transform from the camera_frame to the xaxro's reference frame.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: Workspace] — The tf frame the data will be returned in
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- xacro_reference_frame [default: xacro_ref]
- collision_margin [default: 0.03]
- type [default: X200] — Can be X200, X200_xFA, X400, X400_xFA
- launch/file_camera.launch
- Open an Ensenso stereo file camera in a node.
-
- serial [default: stereo_cam] — Serial of the stereo file camera to be created
- path — The path to the stereo file camera directory or zip file
- launch/file_camera_mono.launch
- Open a mono file camera in a node.
-
- serial [default: mono_cam] — Serial of the mono file camera to be created
- path — The path to the mono file camera directory or zip file
- launch/file_mono_stereo_nodelets.launch
- Open both an Ensenso stereo file camera and a mono file camera within the same nodelet manager.
-
- serial_stereo [default: stereo_cam] — Serial of the mono file camera to be created
- serial_mono [default: mono_cam] — Serial of the mono file camera to be created
- path_stereo — The path to the stereo file camera directory or zip file
- path_mono — The path to the mono file camera directory or zip file
- stereo_ns [default: stereo] — Namespace of the stereo file camera
- mono_ns [default: mono] — Namespace of the mono file camera
- camera_frame [default: optical_frame_$(arg serial_stereo)] — The stereo camera's tf frame
- link_frame [default: $(arg camera_frame)] — The stereo camera's link tf frame
- target_frame [default: $(arg camera_frame)] — The tf frame in which the data will be returned
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- launch/mono_stereo_nodelets.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- settings_stereo [default: ] — JSON file with stereo camera parameters
- settings_mono [default: ] — JSON file with mono camera parameters
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- camera_frame [default: ] — The stereo camera's tf frame (default: optical_frame_SERIAL_STEREO)
- stereo_link_frame [default: ] — The stereo camera's link tf frame (default: camera_frame)
- mono_link_frame [default: ] — The mono camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- mono_capture_timeout [default: 1000] — Capture timeout of the mono camera
- launch/nodelet.launch
- Open an Ensenso stereo camera in a nodelet.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- launch/register_depth_image.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager, run the register_depth_image Python node and the depth_image_proc/register node in order to register the depth image from the stereo camera to the mono camera'a frame.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- launch/texture_point_cloud.launch
- Start a texture_point_cloud node and an image_stream node. No camera is opened!
-
- parameter_set [default: texture_point_cloud]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged ensenso_camera at Robotics Stack Exchange
No version for distro eloquent showing lunar. Known supported distros are highlighted in the buttons above.
![]() |
ensenso_camera package from ensenso_driver repoensenso_camera ensenso_camera_msgs ensenso_camera_test ensenso_description ensenso_driver |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.0.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ensenso/ros_driver.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-30 |
Dev Status | DEVELOPED |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Driver for Ensenso stereo cameras.
Additional Links
Maintainers
- Daniel Saier
- Benjamin Thiemann
Authors
- Ensenso
README
No README found.
See repository README.
CHANGELOG
No CHANGELOG found.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
Name | Deps |
---|---|
ensenso_camera_test | |
ensenso_driver |
Launch files
- launch/calibrate_hand_eye.launch
- Open an Ensenso stereo camera to perform a hand-eye calibration with.
-
- serial [default: ] — Serial of the stereo camera(default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- robot_frame — The robot's base tf frame
- wrist_frame — The robot's wrist tf frame
- is_fixed — The hand-eye calibration type: fixed or moving
- launch/color_point_cloud.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager and run the color_point_cloud Python node.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- settings_stereo [default: ] — JSON file with stereo camera parameters
- settings_mono [default: ] — JSON file with mono camera parameters
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- camera_frame [default: ] — The stereo camera's tf frame (default: optical_frame_SERIAL_STEREO)
- stereo_link_frame [default: ] — The stereo camera's link tf frame (default: camera_frame)
- mono_link_frame [default: ] — The mono camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- mono_capture_timeout [default: 1000] — Capture timeout of the mono camera
- launch/ensenso_N_with_xacro.launch
- Open a workspace calibrated Ensenso N-Series stereo camera and load the corresponding 3D model of the camera via Xacro and publish a tf transform from the camera_frame to the xaxro's reference frame.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: Workspace] — The tf frame the data will be returned in
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- xacro_reference_frame [default: xacro_ref]
- collision_margin [default: 0.03]
- launch/ensenso_X_with_xacro.launch
- Open a workspace calibrated Ensenso X-Series stereo camera and load the corresponding 3D model of the camera via Xacro and publish a tf transform from the camera_frame to the xaxro's reference frame.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: Workspace] — The tf frame the data will be returned in
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- xacro_reference_frame [default: xacro_ref]
- collision_margin [default: 0.03]
- type [default: X200] — Can be X200, X200_xFA, X400, X400_xFA
- launch/file_camera.launch
- Open an Ensenso stereo file camera in a node.
-
- serial [default: stereo_cam] — Serial of the stereo file camera to be created
- path — The path to the stereo file camera directory or zip file
- launch/file_camera_mono.launch
- Open a mono file camera in a node.
-
- serial [default: mono_cam] — Serial of the mono file camera to be created
- path — The path to the mono file camera directory or zip file
- launch/file_mono_stereo_nodelets.launch
- Open both an Ensenso stereo file camera and a mono file camera within the same nodelet manager.
-
- serial_stereo [default: stereo_cam] — Serial of the mono file camera to be created
- serial_mono [default: mono_cam] — Serial of the mono file camera to be created
- path_stereo — The path to the stereo file camera directory or zip file
- path_mono — The path to the mono file camera directory or zip file
- stereo_ns [default: stereo] — Namespace of the stereo file camera
- mono_ns [default: mono] — Namespace of the mono file camera
- camera_frame [default: optical_frame_$(arg serial_stereo)] — The stereo camera's tf frame
- link_frame [default: $(arg camera_frame)] — The stereo camera's link tf frame
- target_frame [default: $(arg camera_frame)] — The tf frame in which the data will be returned
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- launch/mono_stereo_nodelets.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- settings_stereo [default: ] — JSON file with stereo camera parameters
- settings_mono [default: ] — JSON file with mono camera parameters
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- camera_frame [default: ] — The stereo camera's tf frame (default: optical_frame_SERIAL_STEREO)
- stereo_link_frame [default: ] — The stereo camera's link tf frame (default: camera_frame)
- mono_link_frame [default: ] — The mono camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- mono_capture_timeout [default: 1000] — Capture timeout of the mono camera
- launch/nodelet.launch
- Open an Ensenso stereo camera in a nodelet.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- launch/register_depth_image.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager, run the register_depth_image Python node and the depth_image_proc/register node in order to register the depth image from the stereo camera to the mono camera'a frame.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- launch/texture_point_cloud.launch
- Start a texture_point_cloud node and an image_stream node. No camera is opened!
-
- parameter_set [default: texture_point_cloud]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged ensenso_camera at Robotics Stack Exchange
No version for distro dashing showing lunar. Known supported distros are highlighted in the buttons above.
![]() |
ensenso_camera package from ensenso_driver repoensenso_camera ensenso_camera_msgs ensenso_camera_test ensenso_description ensenso_driver |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.0.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ensenso/ros_driver.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-30 |
Dev Status | DEVELOPED |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Driver for Ensenso stereo cameras.
Additional Links
Maintainers
- Daniel Saier
- Benjamin Thiemann
Authors
- Ensenso
README
No README found.
See repository README.
CHANGELOG
No CHANGELOG found.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
Name | Deps |
---|---|
ensenso_camera_test | |
ensenso_driver |
Launch files
- launch/calibrate_hand_eye.launch
- Open an Ensenso stereo camera to perform a hand-eye calibration with.
-
- serial [default: ] — Serial of the stereo camera(default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- robot_frame — The robot's base tf frame
- wrist_frame — The robot's wrist tf frame
- is_fixed — The hand-eye calibration type: fixed or moving
- launch/color_point_cloud.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager and run the color_point_cloud Python node.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- settings_stereo [default: ] — JSON file with stereo camera parameters
- settings_mono [default: ] — JSON file with mono camera parameters
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- camera_frame [default: ] — The stereo camera's tf frame (default: optical_frame_SERIAL_STEREO)
- stereo_link_frame [default: ] — The stereo camera's link tf frame (default: camera_frame)
- mono_link_frame [default: ] — The mono camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- mono_capture_timeout [default: 1000] — Capture timeout of the mono camera
- launch/ensenso_N_with_xacro.launch
- Open a workspace calibrated Ensenso N-Series stereo camera and load the corresponding 3D model of the camera via Xacro and publish a tf transform from the camera_frame to the xaxro's reference frame.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: Workspace] — The tf frame the data will be returned in
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- xacro_reference_frame [default: xacro_ref]
- collision_margin [default: 0.03]
- launch/ensenso_X_with_xacro.launch
- Open a workspace calibrated Ensenso X-Series stereo camera and load the corresponding 3D model of the camera via Xacro and publish a tf transform from the camera_frame to the xaxro's reference frame.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: Workspace] — The tf frame the data will be returned in
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- xacro_reference_frame [default: xacro_ref]
- collision_margin [default: 0.03]
- type [default: X200] — Can be X200, X200_xFA, X400, X400_xFA
- launch/file_camera.launch
- Open an Ensenso stereo file camera in a node.
-
- serial [default: stereo_cam] — Serial of the stereo file camera to be created
- path — The path to the stereo file camera directory or zip file
- launch/file_camera_mono.launch
- Open a mono file camera in a node.
-
- serial [default: mono_cam] — Serial of the mono file camera to be created
- path — The path to the mono file camera directory or zip file
- launch/file_mono_stereo_nodelets.launch
- Open both an Ensenso stereo file camera and a mono file camera within the same nodelet manager.
-
- serial_stereo [default: stereo_cam] — Serial of the mono file camera to be created
- serial_mono [default: mono_cam] — Serial of the mono file camera to be created
- path_stereo — The path to the stereo file camera directory or zip file
- path_mono — The path to the mono file camera directory or zip file
- stereo_ns [default: stereo] — Namespace of the stereo file camera
- mono_ns [default: mono] — Namespace of the mono file camera
- camera_frame [default: optical_frame_$(arg serial_stereo)] — The stereo camera's tf frame
- link_frame [default: $(arg camera_frame)] — The stereo camera's link tf frame
- target_frame [default: $(arg camera_frame)] — The tf frame in which the data will be returned
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- launch/mono_stereo_nodelets.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- settings_stereo [default: ] — JSON file with stereo camera parameters
- settings_mono [default: ] — JSON file with mono camera parameters
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- camera_frame [default: ] — The stereo camera's tf frame (default: optical_frame_SERIAL_STEREO)
- stereo_link_frame [default: ] — The stereo camera's link tf frame (default: camera_frame)
- mono_link_frame [default: ] — The mono camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- mono_capture_timeout [default: 1000] — Capture timeout of the mono camera
- launch/nodelet.launch
- Open an Ensenso stereo camera in a nodelet.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- launch/register_depth_image.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager, run the register_depth_image Python node and the depth_image_proc/register node in order to register the depth image from the stereo camera to the mono camera'a frame.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- launch/texture_point_cloud.launch
- Start a texture_point_cloud node and an image_stream node. No camera is opened!
-
- parameter_set [default: texture_point_cloud]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged ensenso_camera at Robotics Stack Exchange
No version for distro galactic showing lunar. Known supported distros are highlighted in the buttons above.
![]() |
ensenso_camera package from ensenso_driver repoensenso_camera ensenso_camera_msgs ensenso_camera_test ensenso_description ensenso_driver |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.0.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ensenso/ros_driver.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-30 |
Dev Status | DEVELOPED |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Driver for Ensenso stereo cameras.
Additional Links
Maintainers
- Daniel Saier
- Benjamin Thiemann
Authors
- Ensenso
README
No README found.
See repository README.
CHANGELOG
No CHANGELOG found.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
Name | Deps |
---|---|
ensenso_camera_test | |
ensenso_driver |
Launch files
- launch/calibrate_hand_eye.launch
- Open an Ensenso stereo camera to perform a hand-eye calibration with.
-
- serial [default: ] — Serial of the stereo camera(default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- robot_frame — The robot's base tf frame
- wrist_frame — The robot's wrist tf frame
- is_fixed — The hand-eye calibration type: fixed or moving
- launch/color_point_cloud.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager and run the color_point_cloud Python node.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- settings_stereo [default: ] — JSON file with stereo camera parameters
- settings_mono [default: ] — JSON file with mono camera parameters
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- camera_frame [default: ] — The stereo camera's tf frame (default: optical_frame_SERIAL_STEREO)
- stereo_link_frame [default: ] — The stereo camera's link tf frame (default: camera_frame)
- mono_link_frame [default: ] — The mono camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- mono_capture_timeout [default: 1000] — Capture timeout of the mono camera
- launch/ensenso_N_with_xacro.launch
- Open a workspace calibrated Ensenso N-Series stereo camera and load the corresponding 3D model of the camera via Xacro and publish a tf transform from the camera_frame to the xaxro's reference frame.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: Workspace] — The tf frame the data will be returned in
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- xacro_reference_frame [default: xacro_ref]
- collision_margin [default: 0.03]
- launch/ensenso_X_with_xacro.launch
- Open a workspace calibrated Ensenso X-Series stereo camera and load the corresponding 3D model of the camera via Xacro and publish a tf transform from the camera_frame to the xaxro's reference frame.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: Workspace] — The tf frame the data will be returned in
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- xacro_reference_frame [default: xacro_ref]
- collision_margin [default: 0.03]
- type [default: X200] — Can be X200, X200_xFA, X400, X400_xFA
- launch/file_camera.launch
- Open an Ensenso stereo file camera in a node.
-
- serial [default: stereo_cam] — Serial of the stereo file camera to be created
- path — The path to the stereo file camera directory or zip file
- launch/file_camera_mono.launch
- Open a mono file camera in a node.
-
- serial [default: mono_cam] — Serial of the mono file camera to be created
- path — The path to the mono file camera directory or zip file
- launch/file_mono_stereo_nodelets.launch
- Open both an Ensenso stereo file camera and a mono file camera within the same nodelet manager.
-
- serial_stereo [default: stereo_cam] — Serial of the mono file camera to be created
- serial_mono [default: mono_cam] — Serial of the mono file camera to be created
- path_stereo — The path to the stereo file camera directory or zip file
- path_mono — The path to the mono file camera directory or zip file
- stereo_ns [default: stereo] — Namespace of the stereo file camera
- mono_ns [default: mono] — Namespace of the mono file camera
- camera_frame [default: optical_frame_$(arg serial_stereo)] — The stereo camera's tf frame
- link_frame [default: $(arg camera_frame)] — The stereo camera's link tf frame
- target_frame [default: $(arg camera_frame)] — The tf frame in which the data will be returned
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- launch/mono_stereo_nodelets.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- settings_stereo [default: ] — JSON file with stereo camera parameters
- settings_mono [default: ] — JSON file with mono camera parameters
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- camera_frame [default: ] — The stereo camera's tf frame (default: optical_frame_SERIAL_STEREO)
- stereo_link_frame [default: ] — The stereo camera's link tf frame (default: camera_frame)
- mono_link_frame [default: ] — The mono camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- mono_capture_timeout [default: 1000] — Capture timeout of the mono camera
- launch/nodelet.launch
- Open an Ensenso stereo camera in a nodelet.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- launch/register_depth_image.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager, run the register_depth_image Python node and the depth_image_proc/register node in order to register the depth image from the stereo camera to the mono camera'a frame.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- launch/texture_point_cloud.launch
- Start a texture_point_cloud node and an image_stream node. No camera is opened!
-
- parameter_set [default: texture_point_cloud]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged ensenso_camera at Robotics Stack Exchange
No version for distro foxy showing lunar. Known supported distros are highlighted in the buttons above.
![]() |
ensenso_camera package from ensenso_driver repoensenso_camera ensenso_camera_msgs ensenso_camera_test ensenso_description ensenso_driver |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.0.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ensenso/ros_driver.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-30 |
Dev Status | DEVELOPED |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Driver for Ensenso stereo cameras.
Additional Links
Maintainers
- Daniel Saier
- Benjamin Thiemann
Authors
- Ensenso
README
No README found.
See repository README.
CHANGELOG
No CHANGELOG found.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
Name | Deps |
---|---|
ensenso_camera_test | |
ensenso_driver |
Launch files
- launch/calibrate_hand_eye.launch
- Open an Ensenso stereo camera to perform a hand-eye calibration with.
-
- serial [default: ] — Serial of the stereo camera(default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- robot_frame — The robot's base tf frame
- wrist_frame — The robot's wrist tf frame
- is_fixed — The hand-eye calibration type: fixed or moving
- launch/color_point_cloud.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager and run the color_point_cloud Python node.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- settings_stereo [default: ] — JSON file with stereo camera parameters
- settings_mono [default: ] — JSON file with mono camera parameters
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- camera_frame [default: ] — The stereo camera's tf frame (default: optical_frame_SERIAL_STEREO)
- stereo_link_frame [default: ] — The stereo camera's link tf frame (default: camera_frame)
- mono_link_frame [default: ] — The mono camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- mono_capture_timeout [default: 1000] — Capture timeout of the mono camera
- launch/ensenso_N_with_xacro.launch
- Open a workspace calibrated Ensenso N-Series stereo camera and load the corresponding 3D model of the camera via Xacro and publish a tf transform from the camera_frame to the xaxro's reference frame.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: Workspace] — The tf frame the data will be returned in
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- xacro_reference_frame [default: xacro_ref]
- collision_margin [default: 0.03]
- launch/ensenso_X_with_xacro.launch
- Open a workspace calibrated Ensenso X-Series stereo camera and load the corresponding 3D model of the camera via Xacro and publish a tf transform from the camera_frame to the xaxro's reference frame.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: Workspace] — The tf frame the data will be returned in
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- xacro_reference_frame [default: xacro_ref]
- collision_margin [default: 0.03]
- type [default: X200] — Can be X200, X200_xFA, X400, X400_xFA
- launch/file_camera.launch
- Open an Ensenso stereo file camera in a node.
-
- serial [default: stereo_cam] — Serial of the stereo file camera to be created
- path — The path to the stereo file camera directory or zip file
- launch/file_camera_mono.launch
- Open a mono file camera in a node.
-
- serial [default: mono_cam] — Serial of the mono file camera to be created
- path — The path to the mono file camera directory or zip file
- launch/file_mono_stereo_nodelets.launch
- Open both an Ensenso stereo file camera and a mono file camera within the same nodelet manager.
-
- serial_stereo [default: stereo_cam] — Serial of the mono file camera to be created
- serial_mono [default: mono_cam] — Serial of the mono file camera to be created
- path_stereo — The path to the stereo file camera directory or zip file
- path_mono — The path to the mono file camera directory or zip file
- stereo_ns [default: stereo] — Namespace of the stereo file camera
- mono_ns [default: mono] — Namespace of the mono file camera
- camera_frame [default: optical_frame_$(arg serial_stereo)] — The stereo camera's tf frame
- link_frame [default: $(arg camera_frame)] — The stereo camera's link tf frame
- target_frame [default: $(arg camera_frame)] — The tf frame in which the data will be returned
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- launch/mono_stereo_nodelets.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- settings_stereo [default: ] — JSON file with stereo camera parameters
- settings_mono [default: ] — JSON file with mono camera parameters
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- camera_frame [default: ] — The stereo camera's tf frame (default: optical_frame_SERIAL_STEREO)
- stereo_link_frame [default: ] — The stereo camera's link tf frame (default: camera_frame)
- mono_link_frame [default: ] — The mono camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- mono_capture_timeout [default: 1000] — Capture timeout of the mono camera
- launch/nodelet.launch
- Open an Ensenso stereo camera in a nodelet.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- launch/register_depth_image.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager, run the register_depth_image Python node and the depth_image_proc/register node in order to register the depth image from the stereo camera to the mono camera'a frame.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- launch/texture_point_cloud.launch
- Start a texture_point_cloud node and an image_stream node. No camera is opened!
-
- parameter_set [default: texture_point_cloud]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged ensenso_camera at Robotics Stack Exchange
No version for distro iron showing lunar. Known supported distros are highlighted in the buttons above.
![]() |
ensenso_camera package from ensenso_driver repoensenso_camera ensenso_camera_msgs ensenso_camera_test ensenso_description ensenso_driver |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.0.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ensenso/ros_driver.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-30 |
Dev Status | DEVELOPED |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Driver for Ensenso stereo cameras.
Additional Links
Maintainers
- Daniel Saier
- Benjamin Thiemann
Authors
- Ensenso
README
No README found.
See repository README.
CHANGELOG
No CHANGELOG found.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
Name | Deps |
---|---|
ensenso_camera_test | |
ensenso_driver |
Launch files
- launch/calibrate_hand_eye.launch
- Open an Ensenso stereo camera to perform a hand-eye calibration with.
-
- serial [default: ] — Serial of the stereo camera(default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- robot_frame — The robot's base tf frame
- wrist_frame — The robot's wrist tf frame
- is_fixed — The hand-eye calibration type: fixed or moving
- launch/color_point_cloud.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager and run the color_point_cloud Python node.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- settings_stereo [default: ] — JSON file with stereo camera parameters
- settings_mono [default: ] — JSON file with mono camera parameters
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- camera_frame [default: ] — The stereo camera's tf frame (default: optical_frame_SERIAL_STEREO)
- stereo_link_frame [default: ] — The stereo camera's link tf frame (default: camera_frame)
- mono_link_frame [default: ] — The mono camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- mono_capture_timeout [default: 1000] — Capture timeout of the mono camera
- launch/ensenso_N_with_xacro.launch
- Open a workspace calibrated Ensenso N-Series stereo camera and load the corresponding 3D model of the camera via Xacro and publish a tf transform from the camera_frame to the xaxro's reference frame.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: Workspace] — The tf frame the data will be returned in
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- xacro_reference_frame [default: xacro_ref]
- collision_margin [default: 0.03]
- launch/ensenso_X_with_xacro.launch
- Open a workspace calibrated Ensenso X-Series stereo camera and load the corresponding 3D model of the camera via Xacro and publish a tf transform from the camera_frame to the xaxro's reference frame.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: Workspace] — The tf frame the data will be returned in
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- xacro_reference_frame [default: xacro_ref]
- collision_margin [default: 0.03]
- type [default: X200] — Can be X200, X200_xFA, X400, X400_xFA
- launch/file_camera.launch
- Open an Ensenso stereo file camera in a node.
-
- serial [default: stereo_cam] — Serial of the stereo file camera to be created
- path — The path to the stereo file camera directory or zip file
- launch/file_camera_mono.launch
- Open a mono file camera in a node.
-
- serial [default: mono_cam] — Serial of the mono file camera to be created
- path — The path to the mono file camera directory or zip file
- launch/file_mono_stereo_nodelets.launch
- Open both an Ensenso stereo file camera and a mono file camera within the same nodelet manager.
-
- serial_stereo [default: stereo_cam] — Serial of the mono file camera to be created
- serial_mono [default: mono_cam] — Serial of the mono file camera to be created
- path_stereo — The path to the stereo file camera directory or zip file
- path_mono — The path to the mono file camera directory or zip file
- stereo_ns [default: stereo] — Namespace of the stereo file camera
- mono_ns [default: mono] — Namespace of the mono file camera
- camera_frame [default: optical_frame_$(arg serial_stereo)] — The stereo camera's tf frame
- link_frame [default: $(arg camera_frame)] — The stereo camera's link tf frame
- target_frame [default: $(arg camera_frame)] — The tf frame in which the data will be returned
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- launch/mono_stereo_nodelets.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- settings_stereo [default: ] — JSON file with stereo camera parameters
- settings_mono [default: ] — JSON file with mono camera parameters
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- camera_frame [default: ] — The stereo camera's tf frame (default: optical_frame_SERIAL_STEREO)
- stereo_link_frame [default: ] — The stereo camera's link tf frame (default: camera_frame)
- mono_link_frame [default: ] — The mono camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- mono_capture_timeout [default: 1000] — Capture timeout of the mono camera
- launch/nodelet.launch
- Open an Ensenso stereo camera in a nodelet.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- launch/register_depth_image.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager, run the register_depth_image Python node and the depth_image_proc/register node in order to register the depth image from the stereo camera to the mono camera'a frame.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- launch/texture_point_cloud.launch
- Start a texture_point_cloud node and an image_stream node. No camera is opened!
-
- parameter_set [default: texture_point_cloud]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged ensenso_camera at Robotics Stack Exchange
![]() |
ensenso_camera package from ensenso_driver repoensenso_camera ensenso_camera_msgs ensenso_camera_test ensenso_description ensenso_driver |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.0.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ensenso/ros_driver.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-30 |
Dev Status | DEVELOPED |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Driver for Ensenso stereo cameras.
Additional Links
Maintainers
- Daniel Saier
- Benjamin Thiemann
Authors
- Ensenso
README
No README found.
See repository README.
CHANGELOG
No CHANGELOG found.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
Name | Deps |
---|---|
ensenso_camera_test | |
ensenso_driver |
Launch files
- launch/calibrate_hand_eye.launch
- Open an Ensenso stereo camera to perform a hand-eye calibration with.
-
- serial [default: ] — Serial of the stereo camera(default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- robot_frame — The robot's base tf frame
- wrist_frame — The robot's wrist tf frame
- is_fixed — The hand-eye calibration type: fixed or moving
- launch/color_point_cloud.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager and run the color_point_cloud Python node.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- settings_stereo [default: ] — JSON file with stereo camera parameters
- settings_mono [default: ] — JSON file with mono camera parameters
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- camera_frame [default: ] — The stereo camera's tf frame (default: optical_frame_SERIAL_STEREO)
- stereo_link_frame [default: ] — The stereo camera's link tf frame (default: camera_frame)
- mono_link_frame [default: ] — The mono camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- mono_capture_timeout [default: 1000] — Capture timeout of the mono camera
- launch/ensenso_N_with_xacro.launch
- Open a workspace calibrated Ensenso N-Series stereo camera and load the corresponding 3D model of the camera via Xacro and publish a tf transform from the camera_frame to the xaxro's reference frame.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: Workspace] — The tf frame the data will be returned in
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- xacro_reference_frame [default: xacro_ref]
- collision_margin [default: 0.03]
- launch/ensenso_X_with_xacro.launch
- Open a workspace calibrated Ensenso X-Series stereo camera and load the corresponding 3D model of the camera via Xacro and publish a tf transform from the camera_frame to the xaxro's reference frame.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: Workspace] — The tf frame the data will be returned in
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- xacro_reference_frame [default: xacro_ref]
- collision_margin [default: 0.03]
- type [default: X200] — Can be X200, X200_xFA, X400, X400_xFA
- launch/file_camera.launch
- Open an Ensenso stereo file camera in a node.
-
- serial [default: stereo_cam] — Serial of the stereo file camera to be created
- path — The path to the stereo file camera directory or zip file
- launch/file_camera_mono.launch
- Open a mono file camera in a node.
-
- serial [default: mono_cam] — Serial of the mono file camera to be created
- path — The path to the mono file camera directory or zip file
- launch/file_mono_stereo_nodelets.launch
- Open both an Ensenso stereo file camera and a mono file camera within the same nodelet manager.
-
- serial_stereo [default: stereo_cam] — Serial of the mono file camera to be created
- serial_mono [default: mono_cam] — Serial of the mono file camera to be created
- path_stereo — The path to the stereo file camera directory or zip file
- path_mono — The path to the mono file camera directory or zip file
- stereo_ns [default: stereo] — Namespace of the stereo file camera
- mono_ns [default: mono] — Namespace of the mono file camera
- camera_frame [default: optical_frame_$(arg serial_stereo)] — The stereo camera's tf frame
- link_frame [default: $(arg camera_frame)] — The stereo camera's link tf frame
- target_frame [default: $(arg camera_frame)] — The tf frame in which the data will be returned
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- launch/mono_stereo_nodelets.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- settings_stereo [default: ] — JSON file with stereo camera parameters
- settings_mono [default: ] — JSON file with mono camera parameters
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- camera_frame [default: ] — The stereo camera's tf frame (default: optical_frame_SERIAL_STEREO)
- stereo_link_frame [default: ] — The stereo camera's link tf frame (default: camera_frame)
- mono_link_frame [default: ] — The mono camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- mono_capture_timeout [default: 1000] — Capture timeout of the mono camera
- launch/nodelet.launch
- Open an Ensenso stereo camera in a nodelet.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- launch/register_depth_image.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager, run the register_depth_image Python node and the depth_image_proc/register node in order to register the depth image from the stereo camera to the mono camera'a frame.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- launch/texture_point_cloud.launch
- Start a texture_point_cloud node and an image_stream node. No camera is opened!
-
- parameter_set [default: texture_point_cloud]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged ensenso_camera at Robotics Stack Exchange
No version for distro jade showing lunar. Known supported distros are highlighted in the buttons above.
![]() |
ensenso_camera package from ensenso_driver repoensenso_camera ensenso_camera_msgs ensenso_camera_test ensenso_description ensenso_driver |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.0.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ensenso/ros_driver.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-30 |
Dev Status | DEVELOPED |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Driver for Ensenso stereo cameras.
Additional Links
Maintainers
- Daniel Saier
- Benjamin Thiemann
Authors
- Ensenso
README
No README found.
See repository README.
CHANGELOG
No CHANGELOG found.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
Name | Deps |
---|---|
ensenso_camera_test | |
ensenso_driver |
Launch files
- launch/calibrate_hand_eye.launch
- Open an Ensenso stereo camera to perform a hand-eye calibration with.
-
- serial [default: ] — Serial of the stereo camera(default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- robot_frame — The robot's base tf frame
- wrist_frame — The robot's wrist tf frame
- is_fixed — The hand-eye calibration type: fixed or moving
- launch/color_point_cloud.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager and run the color_point_cloud Python node.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- settings_stereo [default: ] — JSON file with stereo camera parameters
- settings_mono [default: ] — JSON file with mono camera parameters
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- camera_frame [default: ] — The stereo camera's tf frame (default: optical_frame_SERIAL_STEREO)
- stereo_link_frame [default: ] — The stereo camera's link tf frame (default: camera_frame)
- mono_link_frame [default: ] — The mono camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- mono_capture_timeout [default: 1000] — Capture timeout of the mono camera
- launch/ensenso_N_with_xacro.launch
- Open a workspace calibrated Ensenso N-Series stereo camera and load the corresponding 3D model of the camera via Xacro and publish a tf transform from the camera_frame to the xaxro's reference frame.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: Workspace] — The tf frame the data will be returned in
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- xacro_reference_frame [default: xacro_ref]
- collision_margin [default: 0.03]
- launch/ensenso_X_with_xacro.launch
- Open a workspace calibrated Ensenso X-Series stereo camera and load the corresponding 3D model of the camera via Xacro and publish a tf transform from the camera_frame to the xaxro's reference frame.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: Workspace] — The tf frame the data will be returned in
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- xacro_reference_frame [default: xacro_ref]
- collision_margin [default: 0.03]
- type [default: X200] — Can be X200, X200_xFA, X400, X400_xFA
- launch/file_camera.launch
- Open an Ensenso stereo file camera in a node.
-
- serial [default: stereo_cam] — Serial of the stereo file camera to be created
- path — The path to the stereo file camera directory or zip file
- launch/file_camera_mono.launch
- Open a mono file camera in a node.
-
- serial [default: mono_cam] — Serial of the mono file camera to be created
- path — The path to the mono file camera directory or zip file
- launch/file_mono_stereo_nodelets.launch
- Open both an Ensenso stereo file camera and a mono file camera within the same nodelet manager.
-
- serial_stereo [default: stereo_cam] — Serial of the mono file camera to be created
- serial_mono [default: mono_cam] — Serial of the mono file camera to be created
- path_stereo — The path to the stereo file camera directory or zip file
- path_mono — The path to the mono file camera directory or zip file
- stereo_ns [default: stereo] — Namespace of the stereo file camera
- mono_ns [default: mono] — Namespace of the mono file camera
- camera_frame [default: optical_frame_$(arg serial_stereo)] — The stereo camera's tf frame
- link_frame [default: $(arg camera_frame)] — The stereo camera's link tf frame
- target_frame [default: $(arg camera_frame)] — The tf frame in which the data will be returned
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- launch/mono_stereo_nodelets.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- settings_stereo [default: ] — JSON file with stereo camera parameters
- settings_mono [default: ] — JSON file with mono camera parameters
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- camera_frame [default: ] — The stereo camera's tf frame (default: optical_frame_SERIAL_STEREO)
- stereo_link_frame [default: ] — The stereo camera's link tf frame (default: camera_frame)
- mono_link_frame [default: ] — The mono camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- mono_capture_timeout [default: 1000] — Capture timeout of the mono camera
- launch/nodelet.launch
- Open an Ensenso stereo camera in a nodelet.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- launch/register_depth_image.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager, run the register_depth_image Python node and the depth_image_proc/register node in order to register the depth image from the stereo camera to the mono camera'a frame.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- launch/texture_point_cloud.launch
- Start a texture_point_cloud node and an image_stream node. No camera is opened!
-
- parameter_set [default: texture_point_cloud]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged ensenso_camera at Robotics Stack Exchange
No version for distro indigo showing lunar. Known supported distros are highlighted in the buttons above.
![]() |
ensenso_camera package from ensenso_driver repoensenso_camera ensenso_camera_msgs ensenso_camera_test ensenso_description ensenso_driver |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.0.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ensenso/ros_driver.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-30 |
Dev Status | DEVELOPED |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Driver for Ensenso stereo cameras.
Additional Links
Maintainers
- Daniel Saier
- Benjamin Thiemann
Authors
- Ensenso
README
No README found.
See repository README.
CHANGELOG
No CHANGELOG found.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
Name | Deps |
---|---|
ensenso_camera_test | |
ensenso_driver |
Launch files
- launch/calibrate_hand_eye.launch
- Open an Ensenso stereo camera to perform a hand-eye calibration with.
-
- serial [default: ] — Serial of the stereo camera(default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- robot_frame — The robot's base tf frame
- wrist_frame — The robot's wrist tf frame
- is_fixed — The hand-eye calibration type: fixed or moving
- launch/color_point_cloud.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager and run the color_point_cloud Python node.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- settings_stereo [default: ] — JSON file with stereo camera parameters
- settings_mono [default: ] — JSON file with mono camera parameters
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- camera_frame [default: ] — The stereo camera's tf frame (default: optical_frame_SERIAL_STEREO)
- stereo_link_frame [default: ] — The stereo camera's link tf frame (default: camera_frame)
- mono_link_frame [default: ] — The mono camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- mono_capture_timeout [default: 1000] — Capture timeout of the mono camera
- launch/ensenso_N_with_xacro.launch
- Open a workspace calibrated Ensenso N-Series stereo camera and load the corresponding 3D model of the camera via Xacro and publish a tf transform from the camera_frame to the xaxro's reference frame.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: Workspace] — The tf frame the data will be returned in
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- xacro_reference_frame [default: xacro_ref]
- collision_margin [default: 0.03]
- launch/ensenso_X_with_xacro.launch
- Open a workspace calibrated Ensenso X-Series stereo camera and load the corresponding 3D model of the camera via Xacro and publish a tf transform from the camera_frame to the xaxro's reference frame.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: Workspace] — The tf frame the data will be returned in
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- xacro_reference_frame [default: xacro_ref]
- collision_margin [default: 0.03]
- type [default: X200] — Can be X200, X200_xFA, X400, X400_xFA
- launch/file_camera.launch
- Open an Ensenso stereo file camera in a node.
-
- serial [default: stereo_cam] — Serial of the stereo file camera to be created
- path — The path to the stereo file camera directory or zip file
- launch/file_camera_mono.launch
- Open a mono file camera in a node.
-
- serial [default: mono_cam] — Serial of the mono file camera to be created
- path — The path to the mono file camera directory or zip file
- launch/file_mono_stereo_nodelets.launch
- Open both an Ensenso stereo file camera and a mono file camera within the same nodelet manager.
-
- serial_stereo [default: stereo_cam] — Serial of the mono file camera to be created
- serial_mono [default: mono_cam] — Serial of the mono file camera to be created
- path_stereo — The path to the stereo file camera directory or zip file
- path_mono — The path to the mono file camera directory or zip file
- stereo_ns [default: stereo] — Namespace of the stereo file camera
- mono_ns [default: mono] — Namespace of the mono file camera
- camera_frame [default: optical_frame_$(arg serial_stereo)] — The stereo camera's tf frame
- link_frame [default: $(arg camera_frame)] — The stereo camera's link tf frame
- target_frame [default: $(arg camera_frame)] — The tf frame in which the data will be returned
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- launch/mono_stereo_nodelets.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- settings_stereo [default: ] — JSON file with stereo camera parameters
- settings_mono [default: ] — JSON file with mono camera parameters
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- camera_frame [default: ] — The stereo camera's tf frame (default: optical_frame_SERIAL_STEREO)
- stereo_link_frame [default: ] — The stereo camera's link tf frame (default: camera_frame)
- mono_link_frame [default: ] — The mono camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- mono_capture_timeout [default: 1000] — Capture timeout of the mono camera
- launch/nodelet.launch
- Open an Ensenso stereo camera in a nodelet.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- launch/register_depth_image.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager, run the register_depth_image Python node and the depth_image_proc/register node in order to register the depth image from the stereo camera to the mono camera'a frame.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- launch/texture_point_cloud.launch
- Start a texture_point_cloud node and an image_stream node. No camera is opened!
-
- parameter_set [default: texture_point_cloud]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged ensenso_camera at Robotics Stack Exchange
No version for distro hydro showing lunar. Known supported distros are highlighted in the buttons above.
![]() |
ensenso_camera package from ensenso_driver repoensenso_camera ensenso_camera_msgs ensenso_camera_test ensenso_description ensenso_driver |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.0.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ensenso/ros_driver.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-30 |
Dev Status | DEVELOPED |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Driver for Ensenso stereo cameras.
Additional Links
Maintainers
- Daniel Saier
- Benjamin Thiemann
Authors
- Ensenso
README
No README found.
See repository README.
CHANGELOG
No CHANGELOG found.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
Name | Deps |
---|---|
ensenso_camera_test | |
ensenso_driver |
Launch files
- launch/calibrate_hand_eye.launch
- Open an Ensenso stereo camera to perform a hand-eye calibration with.
-
- serial [default: ] — Serial of the stereo camera(default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- robot_frame — The robot's base tf frame
- wrist_frame — The robot's wrist tf frame
- is_fixed — The hand-eye calibration type: fixed or moving
- launch/color_point_cloud.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager and run the color_point_cloud Python node.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- settings_stereo [default: ] — JSON file with stereo camera parameters
- settings_mono [default: ] — JSON file with mono camera parameters
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- camera_frame [default: ] — The stereo camera's tf frame (default: optical_frame_SERIAL_STEREO)
- stereo_link_frame [default: ] — The stereo camera's link tf frame (default: camera_frame)
- mono_link_frame [default: ] — The mono camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- mono_capture_timeout [default: 1000] — Capture timeout of the mono camera
- launch/ensenso_N_with_xacro.launch
- Open a workspace calibrated Ensenso N-Series stereo camera and load the corresponding 3D model of the camera via Xacro and publish a tf transform from the camera_frame to the xaxro's reference frame.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: Workspace] — The tf frame the data will be returned in
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- xacro_reference_frame [default: xacro_ref]
- collision_margin [default: 0.03]
- launch/ensenso_X_with_xacro.launch
- Open a workspace calibrated Ensenso X-Series stereo camera and load the corresponding 3D model of the camera via Xacro and publish a tf transform from the camera_frame to the xaxro's reference frame.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: Workspace] — The tf frame the data will be returned in
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- xacro_reference_frame [default: xacro_ref]
- collision_margin [default: 0.03]
- type [default: X200] — Can be X200, X200_xFA, X400, X400_xFA
- launch/file_camera.launch
- Open an Ensenso stereo file camera in a node.
-
- serial [default: stereo_cam] — Serial of the stereo file camera to be created
- path — The path to the stereo file camera directory or zip file
- launch/file_camera_mono.launch
- Open a mono file camera in a node.
-
- serial [default: mono_cam] — Serial of the mono file camera to be created
- path — The path to the mono file camera directory or zip file
- launch/file_mono_stereo_nodelets.launch
- Open both an Ensenso stereo file camera and a mono file camera within the same nodelet manager.
-
- serial_stereo [default: stereo_cam] — Serial of the mono file camera to be created
- serial_mono [default: mono_cam] — Serial of the mono file camera to be created
- path_stereo — The path to the stereo file camera directory or zip file
- path_mono — The path to the mono file camera directory or zip file
- stereo_ns [default: stereo] — Namespace of the stereo file camera
- mono_ns [default: mono] — Namespace of the mono file camera
- camera_frame [default: optical_frame_$(arg serial_stereo)] — The stereo camera's tf frame
- link_frame [default: $(arg camera_frame)] — The stereo camera's link tf frame
- target_frame [default: $(arg camera_frame)] — The tf frame in which the data will be returned
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- launch/mono_stereo_nodelets.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- settings_stereo [default: ] — JSON file with stereo camera parameters
- settings_mono [default: ] — JSON file with mono camera parameters
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- camera_frame [default: ] — The stereo camera's tf frame (default: optical_frame_SERIAL_STEREO)
- stereo_link_frame [default: ] — The stereo camera's link tf frame (default: camera_frame)
- mono_link_frame [default: ] — The mono camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- mono_capture_timeout [default: 1000] — Capture timeout of the mono camera
- launch/nodelet.launch
- Open an Ensenso stereo camera in a nodelet.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- launch/register_depth_image.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager, run the register_depth_image Python node and the depth_image_proc/register node in order to register the depth image from the stereo camera to the mono camera'a frame.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- launch/texture_point_cloud.launch
- Start a texture_point_cloud node and an image_stream node. No camera is opened!
-
- parameter_set [default: texture_point_cloud]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged ensenso_camera at Robotics Stack Exchange
![]() |
ensenso_camera package from ensenso_driver repoensenso_camera ensenso_camera_msgs ensenso_camera_test ensenso_description ensenso_driver |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.0.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ensenso/ros_driver.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-30 |
Dev Status | DEVELOPED |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Driver for Ensenso stereo cameras.
Additional Links
Maintainers
- Daniel Saier
- Benjamin Thiemann
Authors
- Ensenso
README
No README found.
See repository README.
CHANGELOG
No CHANGELOG found.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
Name | Deps |
---|---|
ensenso_camera_test | |
ensenso_driver |
Launch files
- launch/calibrate_hand_eye.launch
- Open an Ensenso stereo camera to perform a hand-eye calibration with.
-
- serial [default: ] — Serial of the stereo camera(default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- robot_frame — The robot's base tf frame
- wrist_frame — The robot's wrist tf frame
- is_fixed — The hand-eye calibration type: fixed or moving
- launch/color_point_cloud.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager and run the color_point_cloud Python node.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- settings_stereo [default: ] — JSON file with stereo camera parameters
- settings_mono [default: ] — JSON file with mono camera parameters
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- camera_frame [default: ] — The stereo camera's tf frame (default: optical_frame_SERIAL_STEREO)
- stereo_link_frame [default: ] — The stereo camera's link tf frame (default: camera_frame)
- mono_link_frame [default: ] — The mono camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- mono_capture_timeout [default: 1000] — Capture timeout of the mono camera
- launch/ensenso_N_with_xacro.launch
- Open a workspace calibrated Ensenso N-Series stereo camera and load the corresponding 3D model of the camera via Xacro and publish a tf transform from the camera_frame to the xaxro's reference frame.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: Workspace] — The tf frame the data will be returned in
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- xacro_reference_frame [default: xacro_ref]
- collision_margin [default: 0.03]
- launch/ensenso_X_with_xacro.launch
- Open a workspace calibrated Ensenso X-Series stereo camera and load the corresponding 3D model of the camera via Xacro and publish a tf transform from the camera_frame to the xaxro's reference frame.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: Workspace] — The tf frame the data will be returned in
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- xacro_reference_frame [default: xacro_ref]
- collision_margin [default: 0.03]
- type [default: X200] — Can be X200, X200_xFA, X400, X400_xFA
- launch/file_camera.launch
- Open an Ensenso stereo file camera in a node.
-
- serial [default: stereo_cam] — Serial of the stereo file camera to be created
- path — The path to the stereo file camera directory or zip file
- launch/file_camera_mono.launch
- Open a mono file camera in a node.
-
- serial [default: mono_cam] — Serial of the mono file camera to be created
- path — The path to the mono file camera directory or zip file
- launch/file_mono_stereo_nodelets.launch
- Open both an Ensenso stereo file camera and a mono file camera within the same nodelet manager.
-
- serial_stereo [default: stereo_cam] — Serial of the mono file camera to be created
- serial_mono [default: mono_cam] — Serial of the mono file camera to be created
- path_stereo — The path to the stereo file camera directory or zip file
- path_mono — The path to the mono file camera directory or zip file
- stereo_ns [default: stereo] — Namespace of the stereo file camera
- mono_ns [default: mono] — Namespace of the mono file camera
- camera_frame [default: optical_frame_$(arg serial_stereo)] — The stereo camera's tf frame
- link_frame [default: $(arg camera_frame)] — The stereo camera's link tf frame
- target_frame [default: $(arg camera_frame)] — The tf frame in which the data will be returned
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- launch/mono_stereo_nodelets.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- settings_stereo [default: ] — JSON file with stereo camera parameters
- settings_mono [default: ] — JSON file with mono camera parameters
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- camera_frame [default: ] — The stereo camera's tf frame (default: optical_frame_SERIAL_STEREO)
- stereo_link_frame [default: ] — The stereo camera's link tf frame (default: camera_frame)
- mono_link_frame [default: ] — The mono camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- mono_capture_timeout [default: 1000] — Capture timeout of the mono camera
- launch/nodelet.launch
- Open an Ensenso stereo camera in a nodelet.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- launch/register_depth_image.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager, run the register_depth_image Python node and the depth_image_proc/register node in order to register the depth image from the stereo camera to the mono camera'a frame.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- launch/texture_point_cloud.launch
- Start a texture_point_cloud node and an image_stream node. No camera is opened!
-
- parameter_set [default: texture_point_cloud]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged ensenso_camera at Robotics Stack Exchange
![]() |
ensenso_camera package from ensenso_driver repoensenso_camera ensenso_camera_msgs ensenso_camera_test ensenso_description ensenso_driver |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.0.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ensenso/ros_driver.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-30 |
Dev Status | DEVELOPED |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Driver for Ensenso stereo cameras.
Additional Links
Maintainers
- Daniel Saier
- Benjamin Thiemann
Authors
- Ensenso
README
No README found.
See repository README.
CHANGELOG
No CHANGELOG found.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
Name | Deps |
---|---|
ensenso_camera_test | |
ensenso_driver |
Launch files
- launch/calibrate_hand_eye.launch
- Open an Ensenso stereo camera to perform a hand-eye calibration with.
-
- serial [default: ] — Serial of the stereo camera(default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- robot_frame — The robot's base tf frame
- wrist_frame — The robot's wrist tf frame
- is_fixed — The hand-eye calibration type: fixed or moving
- launch/color_point_cloud.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager and run the color_point_cloud Python node.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- settings_stereo [default: ] — JSON file with stereo camera parameters
- settings_mono [default: ] — JSON file with mono camera parameters
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- camera_frame [default: ] — The stereo camera's tf frame (default: optical_frame_SERIAL_STEREO)
- stereo_link_frame [default: ] — The stereo camera's link tf frame (default: camera_frame)
- mono_link_frame [default: ] — The mono camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- mono_capture_timeout [default: 1000] — Capture timeout of the mono camera
- launch/ensenso_N_with_xacro.launch
- Open a workspace calibrated Ensenso N-Series stereo camera and load the corresponding 3D model of the camera via Xacro and publish a tf transform from the camera_frame to the xaxro's reference frame.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: Workspace] — The tf frame the data will be returned in
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- xacro_reference_frame [default: xacro_ref]
- collision_margin [default: 0.03]
- launch/ensenso_X_with_xacro.launch
- Open a workspace calibrated Ensenso X-Series stereo camera and load the corresponding 3D model of the camera via Xacro and publish a tf transform from the camera_frame to the xaxro's reference frame.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: Workspace] — The tf frame the data will be returned in
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- xacro_reference_frame [default: xacro_ref]
- collision_margin [default: 0.03]
- type [default: X200] — Can be X200, X200_xFA, X400, X400_xFA
- launch/file_camera.launch
- Open an Ensenso stereo file camera in a node.
-
- serial [default: stereo_cam] — Serial of the stereo file camera to be created
- path — The path to the stereo file camera directory or zip file
- launch/file_camera_mono.launch
- Open a mono file camera in a node.
-
- serial [default: mono_cam] — Serial of the mono file camera to be created
- path — The path to the mono file camera directory or zip file
- launch/file_mono_stereo_nodelets.launch
- Open both an Ensenso stereo file camera and a mono file camera within the same nodelet manager.
-
- serial_stereo [default: stereo_cam] — Serial of the mono file camera to be created
- serial_mono [default: mono_cam] — Serial of the mono file camera to be created
- path_stereo — The path to the stereo file camera directory or zip file
- path_mono — The path to the mono file camera directory or zip file
- stereo_ns [default: stereo] — Namespace of the stereo file camera
- mono_ns [default: mono] — Namespace of the mono file camera
- camera_frame [default: optical_frame_$(arg serial_stereo)] — The stereo camera's tf frame
- link_frame [default: $(arg camera_frame)] — The stereo camera's link tf frame
- target_frame [default: $(arg camera_frame)] — The tf frame in which the data will be returned
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- launch/mono_stereo_nodelets.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- settings_stereo [default: ] — JSON file with stereo camera parameters
- settings_mono [default: ] — JSON file with mono camera parameters
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- camera_frame [default: ] — The stereo camera's tf frame (default: optical_frame_SERIAL_STEREO)
- stereo_link_frame [default: ] — The stereo camera's link tf frame (default: camera_frame)
- mono_link_frame [default: ] — The mono camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- mono_capture_timeout [default: 1000] — Capture timeout of the mono camera
- launch/nodelet.launch
- Open an Ensenso stereo camera in a nodelet.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- launch/register_depth_image.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager, run the register_depth_image Python node and the depth_image_proc/register node in order to register the depth image from the stereo camera to the mono camera'a frame.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- launch/texture_point_cloud.launch
- Start a texture_point_cloud node and an image_stream node. No camera is opened!
-
- parameter_set [default: texture_point_cloud]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged ensenso_camera at Robotics Stack Exchange
![]() |
ensenso_camera package from ensenso_driver repoensenso_camera ensenso_camera_msgs ensenso_camera_test ensenso_description ensenso_driver |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.0.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ensenso/ros_driver.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-30 |
Dev Status | DEVELOPED |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Driver for Ensenso stereo cameras.
Additional Links
Maintainers
- Daniel Saier
- Benjamin Thiemann
Authors
- Ensenso
README
No README found.
See repository README.
CHANGELOG
No CHANGELOG found.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
Name | Deps |
---|---|
ensenso_camera_test | |
ensenso_driver |
Launch files
- launch/calibrate_hand_eye.launch
- Open an Ensenso stereo camera to perform a hand-eye calibration with.
-
- serial [default: ] — Serial of the stereo camera(default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- robot_frame — The robot's base tf frame
- wrist_frame — The robot's wrist tf frame
- is_fixed — The hand-eye calibration type: fixed or moving
- launch/color_point_cloud.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager and run the color_point_cloud Python node.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- settings_stereo [default: ] — JSON file with stereo camera parameters
- settings_mono [default: ] — JSON file with mono camera parameters
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- camera_frame [default: ] — The stereo camera's tf frame (default: optical_frame_SERIAL_STEREO)
- stereo_link_frame [default: ] — The stereo camera's link tf frame (default: camera_frame)
- mono_link_frame [default: ] — The mono camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- mono_capture_timeout [default: 1000] — Capture timeout of the mono camera
- launch/ensenso_N_with_xacro.launch
- Open a workspace calibrated Ensenso N-Series stereo camera and load the corresponding 3D model of the camera via Xacro and publish a tf transform from the camera_frame to the xaxro's reference frame.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: Workspace] — The tf frame the data will be returned in
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- xacro_reference_frame [default: xacro_ref]
- collision_margin [default: 0.03]
- launch/ensenso_X_with_xacro.launch
- Open a workspace calibrated Ensenso X-Series stereo camera and load the corresponding 3D model of the camera via Xacro and publish a tf transform from the camera_frame to the xaxro's reference frame.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: Workspace] — The tf frame the data will be returned in
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- xacro_reference_frame [default: xacro_ref]
- collision_margin [default: 0.03]
- type [default: X200] — Can be X200, X200_xFA, X400, X400_xFA
- launch/file_camera.launch
- Open an Ensenso stereo file camera in a node.
-
- serial [default: stereo_cam] — Serial of the stereo file camera to be created
- path — The path to the stereo file camera directory or zip file
- launch/file_camera_mono.launch
- Open a mono file camera in a node.
-
- serial [default: mono_cam] — Serial of the mono file camera to be created
- path — The path to the mono file camera directory or zip file
- launch/file_mono_stereo_nodelets.launch
- Open both an Ensenso stereo file camera and a mono file camera within the same nodelet manager.
-
- serial_stereo [default: stereo_cam] — Serial of the mono file camera to be created
- serial_mono [default: mono_cam] — Serial of the mono file camera to be created
- path_stereo — The path to the stereo file camera directory or zip file
- path_mono — The path to the mono file camera directory or zip file
- stereo_ns [default: stereo] — Namespace of the stereo file camera
- mono_ns [default: mono] — Namespace of the mono file camera
- camera_frame [default: optical_frame_$(arg serial_stereo)] — The stereo camera's tf frame
- link_frame [default: $(arg camera_frame)] — The stereo camera's link tf frame
- target_frame [default: $(arg camera_frame)] — The tf frame in which the data will be returned
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- launch/mono_stereo_nodelets.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- settings_stereo [default: ] — JSON file with stereo camera parameters
- settings_mono [default: ] — JSON file with mono camera parameters
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- camera_frame [default: ] — The stereo camera's tf frame (default: optical_frame_SERIAL_STEREO)
- stereo_link_frame [default: ] — The stereo camera's link tf frame (default: camera_frame)
- mono_link_frame [default: ] — The mono camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- mono_capture_timeout [default: 1000] — Capture timeout of the mono camera
- launch/nodelet.launch
- Open an Ensenso stereo camera in a nodelet.
-
- serial [default: ] — Serial of the stereo camera (default: first found camera)
- settings [default: ] — JSON file with camera parameters
- camera_frame [default: ] — The camera's tf frame (default: optical_frame_SERIAL)
- link_frame [default: ] — The camera's link tf frame (default: camera_frame)
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- tcp_port [default: -1] — The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)
- threads [default: -1] — The number of threads used by the NxLib for this node (-1=autoDetect)
- wait_for_camera [default: false] — Whether this node should wait for the camera to become available
- launch/register_depth_image.launch
- Open both an Ensenso stereo camera and a mono camera within the same nodelet manager, run the register_depth_image Python node and the depth_image_proc/register node in order to register the depth image from the stereo camera to the mono camera'a frame.
-
- serial_stereo [default: ] — Serial of the stereo camera (default: first found stereo camera)
- serial_mono [default: ] — Serial of the mono camera (default: first found mono camera)
- stereo_ns [default: stereo] — Namespace of the stereo camera
- mono_ns [default: mono] — Namespace of the mono camera
- target_frame [default: ] — The tf frame the data will be returned in (default: camera_frame)
- node_name_stereo [default: $(arg serial_stereo)] — Node name of the stereo camera
- node_name_mono [default: $(arg serial_mono)] — Node name of the mono camera
- launch/texture_point_cloud.launch
- Start a texture_point_cloud node and an image_stream node. No camera is opened!
-
- parameter_set [default: texture_point_cloud]
Messages
No message files found.
Services
No service files found