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ROS z_laser_projector Stack
The z_laser_projector stack is a set of tools that allow the user to operate the Z-LASER Projector ZLP1 and simplify the task of developing further advanced features, such as augmented reality applications. The stack provides a ROS API to control the device via topics and services, a visualizer for laser projections and a graphical interface.
The code have been tested for ROS Melodic on Ubuntu 18.04.
This project is licensed under the terms of the Apache 2.0 license.
Create a workspace and clone this repo:
mkdir -p ~/catkin_ws/src && cd ~/catkin_ws/src git clone https://github.com/fada-catec/z_laser_projector.git cd ~/catkin_ws && catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_VERSION=3.6 source ~/catkin_ws/devel/setup.bash
Set the correct network to reach projector:
Connect projector to PC and set a network on IP
- The internal zService is running inside the projector under `192.168.11.11` on port `9090`. - Projector is always reachable under `192.168.10.10`.
This software runs on python 3. Install dependencies:
sudo apt-get install python3-thriftpy sudo apt-get install python3-numpy sudo apt-get install python3-scipy sudo apt-get install python3-pyqt5 sudo apt-get install python3-nose sudo apt-get install python3-pip pip3 install pynput
You can launch the projector node and operate the device throughout the ROS API provided. Set argument
load_user_coorinate_system to true for loading initial values of the reference system from configuration files.
roslaunch z_laser_zlp1 z_laser_zlp1.launch
Projector Node + Visualizer
You can launch the projector node together with visualizer node. Note: the projector node launch is included in
roslaunch z_laser_viz z_laser_viz.launch
Graphical User Interface
Additionally, you can also launch the GUI node.
roslaunch z_laser_gui z_laser_gui.launch
On the other hand, if you prefer to include some projector functionalities into your custom node or application, import the libraries instead:
#!/usr/bin/env python3 import z_laser_zlp1.zlp_projector_manager
Run unit tests and integration tests automatically:
catkin_make run_tests -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_VERSION=3.6
Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information: rosin-project.eu
This project has received funding from the European Union’s Horizon 2020
research and innovation programme under grant agreement no. 732287.