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)

• Camera intrinsics for published images

distance/image_raw (sensor_msgs/Image)

• 2D depth image

intensity/image_raw (sensor_msgs/Image)

• 2D intensity image that corresponds to the depth image of distance/image_raw

pointcloud/cloud_raw (sensor_msgs/PointCloud)

• 3D pointcloud generated from distance/image_raw

Services

set_camera_info (sensor_msgs/SetCameraInfo)

• Sets the camera's calibration

Parameters

Initial Parameters

These parameters only affect the driver when it starts.

~frame_id (str, default: node name)

• Frame of reference ID for coordinate transforms

~auto_exposure (int, default: 1)

• -1 leaves in current state; 0 turns off auto exposure; 1 turns it on.

~integration_time (int, default: -1)

• Sets integration time [SR3k:(integration_time+1)*0.200 ms; SR4k 0.300ms+(integration_time)*0.100 ms]. -1 leaves in current state; should not be used with auto_exposure.

~modulation_freq (int, default: -1)

• Set modulation frequency. -1 leaves in current state (which on power up, is the FACTORY CALIBRATED state -- you probably want this one); 0 == 40MHz, SR3k: maximal range 3.75m; 1 == 30MHz, SR3k, SR4k: maximal range 5m; 2 == 21MHz, SR3k: maximal range 7.14m; 3 == 20MHz, SR3k: maximal range 7.5m; 4 == 19MHz, SR3k: maximal range 7.89m; 5 == 60MHz, SR4k: maximal range 2.5m; 6 == 15MHz, SR4k: maximal range 10m; 7 == 10MHz, SR4k: maximal range 15m; 8 == 29MHz, SR4k: maximal range 5.17m; 9 == 31MHz, SR4k: maximal range 4.84m; 10 == 14.5MHz, SR4k: maximal range 10.34m; 11 == 15.5MHz, SR4k: maximal range 9.68m

~amp_threshold (int, default: -1)

• Sets measurements with amplitude values less than this threshold to 0.

Reconfigurable Parameters

Currently no reconfigurable parameters.

Calibration Parameters

~camera_info_url (str, default: "")

• URL for loading and storing calibration data in the form file:///path/to/local/calibration_file.yaml. If not specified, no data will be loaded, and calibration data will be stored in file:///tmp/calibration_<camera_name>.yaml.