• 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]

• nodelet

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