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dlut_rgbd: camera_laser_calibration | dlut_vision | laser_points_colouration | sick_laser

Package Summary

Documented

sick_laser

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Hardware requirements

  • Sick LMS 200
  • Point Grey Chamelon USB2.0 camera

Software requirements

  • Point Grey flyCapture SDK

Usage

1.The node "scan" must be run first:

   1 rosurn sick_laser scan

2.If you want to get the 3D point cloud,the following command must be run:

rosrun sick_laser point_cloud [port_number] [direction] [frequency] [how many degrees to move] [the first degree] [if data save as pcd file].

[port_number] : port number;

[direction] : '0' or '1';

[frequency] : The frequency which motor rotate at;

[the first degree] : To ensure the coordinate system is prefect,so you should give a first degree.

[if data save as pcd file] : 'y' -> yes or 'n'-> no.

For example:

   1 rosrun sick_laser point_cloud 2 1 3600 360 0 y

And this node will output the point cloud as "laserdata.pcd".

3.If you want to get the 3D point cloud and the image.Please run the following command:

rosrun sick_laser cloud_and_image [port_number] [direction] [frequency] [how many degrees to move] [the first degree] [if data save as pcd file]

[port_number] : port number;

[direction] : '0' or '1';

[frequency] : The frequency which motor rotate at;

[the first degree] : To ensure the coordinate system is prefect,so you should give a first degree.

[if data save as pcd file] : 'y' -> yes or 'n'-> no.

For example:

   1 rosrun sick_laser cloud_and_image 2 1 3600 360 0 y

And this command will output a point cloud as laserdata.pcd and eight pictures from image1.bmp to image8.bmp.

Nodes

scan

The scan node is used to generate the data stream of the sick.

Published Topics

/scan (sensor_msgs/LaserScan)
  • Publish the data stream of the laser scan.

point_cloud

The point_cloud node is used to get the 3D point cloud with the the data stream of the laser scan.

Subscribed Topics

/scan (sensor_msgs/LaserScan)
  • Subscribe the laser scan.

Published Topics

cloud (sensor_msgs/PointCloud)
  • Publish the point cloud.

cloud_and_image

The cloud_and_image node is used to get the RGBD data of the scene with the sick and the camera.

Subscribed Topics

/scan (sensor_msgs/LaserScan)
  • Subscribe the laser scan.

Published Topics

cloud (sensor_msgs/PointCloud)
  • Publish the point cloud.

Bug Reports & Feature Requests

We appreciate the time and effort spent submitting bug reports.

Wiki: sick_laser (last edited 2013-05-07 09:37:17 by dbb1987)