ifm_o3mxxx package from ifm_o3mxxx repo

ifm_o3mxxx

Package Summary

Tags No category tags.
Version 1.0.2
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/takiaine/ifm_o3mxxx.git
VCS Type git
VCS Version master
Last Updated 2018-12-10
Dev Status MAINTAINED
Released RELEASED

Package Description

The ifm_o3mxxx package

Additional Links

No additional links.

Maintainers

  • Antti Kolu
  • Antti Kolu

Authors

No additional authors.

IFM O3Mxxx drivers for ROS

Overview

This package includes the basic ROS drivers for IFM O3Mxxx for publishing Pointcloud2 messages, depth image and raw message with sensor specific information. It has been tested with O3M150 and O3M250. The code is based on IFM sample codes for parsing the ethernet based communication data. The data is then repacked into ROS compatible formats.

Installation

Download or clone the folder into you workspace. Run catkin_make.

ROS API

Published topics

  • ifm_o3mxxx_pc (sensor_msgs/PointCloud2) Valid points of the PointCloud

  • ifm_o3mxxx_raw (ifm_o3mxxx/IFMO3mxxx) Raw sensor information coming from IFM sensor

    • Header header
    • uint16[1024] distance_data
    • float32[1024] x
    • float32[1024] y
    • float32[1024] z
    • uint16[1024] confidence
    • uint16[1024] amplitude
    • float32[4] amplitude_normalization
    • uint32 available
    • uint16 height
    • uint16 width
    • float32 trans_x
    • float32 trans_y
    • float32 trans_z
    • float32 rot_x
    • float32 rot_y
    • float32 rot_z
  • ifm_o3mxxx/depth/raw (sensor_msgs/Image) Depth image of valid points

Parameters

  • Port (int, default: 4599)
  • IP (string, default: "255.255.255.255")
  • frame_id (string, default: "ifm")
  • OutDepthImageTopic (string, default: "ifm_o3mxxx_depth_image")
  • PointCloudTopic (string, default: "ifm_o3mxxx_pc")
  • RawTopic (string, default: "ifm_o3mxxx_raw")

TODO

Only the PointCloud2 information and raw sensor information has been used. The depth image has not been used much(other than visualization), so it should be tested before before you start using it. Also the image interface might need more work(mo calibration etc. is taken into consideration yet).

O3M151 and O3M251 produce object information instead of point cloud. These functionalities could (probably) be added to the driver but currently I do not have such decive at hand.

Acknowledgement

This driver has been developed at Tampere University of Technology, Laboratory of Automation and Hydraulics(AUT)

CHANGELOG
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Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

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Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ifm_o3mxxx at answers.ros.org