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## title = Download and install swissranger_camera
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## description = This tutorial guides you through the process of downloading and installing all the software needed to run your Swissranger 3D Camera.
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## keywords = Swissranger, 3D camera, SR4000, SR3000, udev rules
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<<TableOfContents(4)>>

=== Download and install libmesasr ===
First of all you need to go to [[http://www.mesa-imaging.ch/|Mesa Imaging]] and download libmesasr since swissranger_camera depends on it to compile and work properly.

Go to http://www.mesa-imaging.ch/drivers.php and download the deb package for your architecture under Swissranger Linux Drivers.

At the time this tutorial was written the available drivers were:

 * [[http://www.mesa-imaging.ch/dlm.php?fname=./customer/driver/libmesasr-dev-1.0.14-653.i386.deb|libmesasr-dev-1.0.14-653.i386.deb]]
 * [[http://www.mesa-imaging.ch/dlm.php?fname=./customer/driver/libmesasr-dev-1.0.14-653.amd64.deb|libmesasr-dev-1.0.14-653.amd64.deb]]

After libmesasr finishes downloading install it.

=== Download swissranger_camera ===
Open a terminal window and cd into a directory that is on your [[http://www.ros.org/wiki/ROS/EnvironmentVariables#ROS_PACKAGE_PATH|ROS_PACKAGE_PATH]].

Now you'll checkout the stack containing swissranger_camera using svn. In your terminal window run the following:

{{{
svn co https://code.ros.org/svn/ros-pkg/branches/trunk_cturtle/stacks/camera_drivers_experimental
}}}
Now all you need to do is rosmake swissranger_camera. If libmesasr was properly installed it should go smoothly.

{{{
rosmake swissranger_camera
}}}
=== Add udev rules ===
If you try to connect your Swissranger camera to your computer and run swissranger_camera and you get the following error...

{{{
[ERROR] 1279202609.670480000: Exception thrown while connecting to the camera:
[SR::open]: Failed to open device!"
}}}
...then you need to edit your udev rules:

{{{
sudo gedit /etc/udev/rules.d/46-mesa.rules
}}}
You should see something like this:

{{{
BUS!="usb", SUBSYSTEM!=="usb_device", ACTION!="add", GOTO="kcontrol_rules_end"

#Swissranger SR3k(old),SR3k,SR4k
SYSFS{idVendor}=="0852", SYSFS{idProduct}=="0074", MODE="666", GROUP="usb"
SYSFS{idVendor}=="1ad2", SYSFS{idProduct}=="0074", MODE="666", GROUP="usb"
SYSFS{idVendor}=="1ad2", SYSFS{idProduct}=="0075", MODE="666", GROUP="usb"

LABEL="kcontrol_rules_end"
}}}
All you have to do is add some extra lines and your file should end up looking like this:

{{{
BUS!="usb", SUBSYSTEM!=="usb_device", ACTION!="add", GOTO="kcontrol_rules_end"

#Swissranger SR3k(old),SR3k,SR4k
SYSFS{idVendor}=="0852", SYSFS{idProduct}=="0074", MODE="666", GROUP="usb"
SYSFS{idVendor}=="1ad2", SYSFS{idProduct}=="0074", MODE="666", GROUP="usb"
SYSFS{idVendor}=="1ad2", SYSFS{idProduct}=="0075", MODE="666", GROUP="usb"
SUBSYSTEM=="usb", ACTION=="add", SYSFS{idVendor}=="0852", SYSFS{idProduct}=="0074", MODE="660", GROUP="plugdev"
SUBSYSTEM=="usb", ACTION=="add", SYSFS{idVendor}=="1ad2", SYSFS{idProduct}=="0074", MODE="660", GROUP="plugdev"
SUBSYSTEM=="usb", ACTION=="add", SYSFS{idVendor}=="1ad2", SYSFS{idProduct}=="0075", MODE="660", GROUP="plugdev"

LABEL="kcontrol_rules_end"
}}}
Save and close the file. Plug your Swissranger camera to your computer and start swissranger_camera:

{{{
rosrun swissranger_camera swissranger_camera
}}}
Congratulations! You have successfully interfaced your Swissranger camera with ROS! You can start [[rviz]] to take a look at what it is publishing.

=== Credits ===
Thanks to David Dröschel for sharing how to change the udev rules.

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