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Recent updates changed the published point cloud frame of reference to be the same one used by stereo_image_proc (+x is right, +y is down, +z is forward). This was meant to help beginning users validate the SR data versus a stereo setup.

ROS API

swissranger_camera

The swissranger_camera driver provides a ROS interface for Mesa Imaging SwissRanger devices (3000/4000/4500) that use the libmesasr libraries.

Published Topics

camera_info (sensor_msgs/CameraInfo) distance/image_raw (sensor_msgs/Image) intensity/image_raw (sensor_msgs/Image) pointcloud/cloud_raw (sensor_msgs/PointCloud)

Services

set_camera_info (sensor_msgs/SetCameraInfo)

Parameters

Initial Parameters
These parameters only affect the driver when it starts. ~frame_id (str, default: node name) ~auto_exposure (int, default: 1) ~integration_time (int, default: -1) ~modulation_freq (int, default: -1) ~amp_threshold (int, default: -1)
Reconfigurable Parameters
Currently no reconfigurable parameters.
Calibration Parameters
~camera_info_url (str, default: "")


2018-10-13 13:23