Basler ToF camera ROS driver

This is a ROS driver for the Basler ToF ES (Engineering Sample) 3D camera:

Installation

• Get the file basler-tof-driver-1.4.1.1450-x86_64.tar.gz (available from baslerweb.com) and unpack it. (This driver has been tested with versions 1.0.6, 1.1.0, 1.2.1, 1.3.1 and 1.3.2 of basler-tof-driver, but should work with any version >= 1.0.6 . Version 1.2.1 or later is recommended due to the improvements in the postprocessing filters.
• When you upgrade from one BaslerToF library version to another, make sure to remove your build directory and rebuild. For some reason, cmake does not properly detect that the node has to be rebuilt.
• Move the directory BaslerToF from that archive to /opt/BaslerToF.
• Do not put this directory on your LD_LIBRARY_PATH; it contains custom versions of Qt and other libraries that interfere with the system libraries.
• Clone this repo into your Catkin workspace and install as usual. If unsure, refer to the commands in the .travis.yml file.

Running

roslaunch basler_tof basler_tof.launch

ROS API (basler_tof_node)

Published Topics

confidence/image_raw (sensor_msgs/Image)

• The confidence image (each pixel represents the confidence in the depth value). This is the same as the intensity image, but with too bright / dark pixels beyond a certain threshold replaced by NaN values.

confidence/camera_info (sensor_msgs/CameraInfo)

• The corresponding camera info (calibration values).

depth/image_raw (sensor_msgs/Image)

• The depth image.

depth/camera_info (sensor_msgs/CameraInfo)

• The corresponding camera info (calibration values).

intensity/image_raw (sensor_msgs/Image)

• The intensity image.

intensity/camera_info (sensor_msgs/CameraInfo)

• The corresponding camera info (calibration values).

points (sensor_msgs/PointCloud2)

• Point cloud, directly from the device driver. Has intensities, but cannot be user-calibrated.

depth/points (sensor_msgs/PointCloud2)

• Point cloud computed from the depth/image_raw and depth/camera_info topic. No intensities, but takes into account user calibration. This topic is not directly published by the node, but by the depth_image_proc/point_cloud_xyz nodelet in the launch file.

There are also several rectified topics published via image_proc in the launch file, for example intensity/image_rect:

Parameters

File truncated at 100 lines see the full file