Package Summary

Tags No category tags.
Version 0.0.0
License Apache 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/fada-catec/leica_scanstation.git
VCS Type git
VCS Version master
Last Updated 2021-02-01
Dev Status MAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The leica_scanstation_ros package

Additional Links

No additional links.

Maintainers

  • Ines Lara Sicilia

Authors

  • Ines Lara Sicilia

Leica Scanstation ROS

This package is created to control in PC, throught ROS interface, the Leica Scanstation C5. Tested on ROS Melodic for Windows 10.

Due to Leica's libraries dependencies, the source code development is done under Windows 10.

Once the program is released, it could be executed in either Windows or Linux (with tools such us Wine).

Dependencies

Recomended: ros-melodic-desktop_full

  • Leica HXI SDK.

Note: To get your HXI SDK contact your local Leica supplier.

Set up

  1. Mandatory: Windows 10
  2. Create a workspace e.g: catkin_ws

    mkdir catkin_ws\src && cd catkin_ws\src
    
  3. Clone repo on your workspace

    git clone https://github.com/fada-catec/leica_scanstation.git
    
  4. Place HXI SDK files on a reachable path. Recommended: create a directory on c:/opt/hxi_scanner and copy the content of your HXI SDK into the directory

  5. Set path to SDK files

    setx HXI_SCANNER_INCLUDE_PATH c:/opt/hxi_scanner/Include
    setx HXI_SCANNER_BINARY_PATH c:/opt/hxi_scanner/Release
    
  6. Compile your workspace.

    cd catkin_ws
    catkin_make
    devel\setup.bat
    

Usage

    roslaunch leica_scanstation_ros start.launch

Use ROS services to control, move and start scanning on the Scanstation. E.g: Try to move your pan and tilt

    rosservice call /leica/move 3.141 0.785 

Export program

The ROS node created for this package can be executed in a Linux distribution, using tools such as Wine. If you plan to do this, it will be necessary to have the related libraries to run the program. Compile the program setting export option. Move the executable file (.exe) and the libraries to your linux system.

    setx LEICA_EXPORT_PROGRAM ON
    catkin_make

Files will be exported on your package folder: catkin_ws\...\leica_scanstation_ros\export

Code API

Read documentation leica_scanstation_ros/doc/html/index.html

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Dependant Packages

No known dependants.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged leica_scanstation_ros at answers.ros.org