z_laser_projector repository

Repository Summary

Checkout URI https://github.com/fada-catec/z_laser_projector.git
VCS Type git
VCS Version melodic
Last Updated 2020-09-04
Dev Status MAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
z_laser_projector 0.0.0

README

ZLASERFADACATEC

z_laser_projector

Build Status License

This package is a ROS wrapper to control the Z-LASER Projector ZLP1 via ROS using Z-LASER SDK.

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.

Set up

  1. 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
    
  2. Don't forget to source workspace:

      source ~/catkin_ws/devel/setup.bash
    
  3. Set the correct network to reach projector

    Connect projector to PC and set a network on IP 192.168.10.9 and submask 255.255.255.0

    To consider:

 - 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`. 

Dependencies

  • ROS Melodic

  • This software runs on python 3. Install dependencies by using pip3

      sudo apt-get install python3-pip
      pip3 install thriftpy
      pip3 install numpy
    

Usage

You can launch the ROS node included in this package, which opens ROS services to operate de projector.

 roslaunch zlaser_sdk_ros projector_zlp1.launch

It is possible to change rosparameters and get them by the load_user_coordinate_system launcher argument.

Or if you perfer to include some projector functionalities into your custom node, import the libraries instead:

 #!/usr/bin/env python3
 from z_laser_projector.zlp_projector_manager import ZLPProjectorManager
 from z_laser_projector.zlp_utils import CoordinateSystemParameters, ProjectionElementParameters

Code API

Topics, Services

Read documentation z_laser_projector/doc/html/index.html

Tests

Run automatic integration tests:

 rostest z_laser_projector connection_test.test
 rostest z_laser_projector define_coordinate_system_test.test

Acknowledgement


rosin_logo

Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information: rosin-project.eu

eu_flag

This project has received funding from the European Union’s Horizon 2020
research and innovation programme under grant agreement no. 732287.

Help

CONTRIBUTING

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