ROS index logo ROS Index
  1. Home
  2. Packages
  3. basler_tof
 
No version for distro humble showing melodic. Known supported distros are highlighted in the buttons above.
Package symbol

basler_tof package from basler_tof repo

basler_tof

ROS Distro
melodic

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.0.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description ROS driver for the Basler ToF ES camera
Checkout URI https://github.com/uos/basler_tof.git
VCS Type git
VCS Version melodic
Last Updated 2020-11-16
Dev Status DEVELOPED
Released UNRELEASED
Tags ros ros-driver basler-tof
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Driver for the Basler ToF camera based on GenTL

Additional Links

Maintainers

  • Martin Guenther

Authors

  • Martin Guenther
README.md

Basler ToF camera ROS driver

This is a ROS driver for the Basler ToF ES (Engineering Sample) 3D camera:

Basler ToF ES

Linux Installation

  • Get the file basler-tof-driver-1.4.1.1450-x86_64.tar.gz (available from baslerweb.com) and unpack it. (This driver has been tested with versions 1.0.6, 1.1.0, 1.2.1, 1.3.1 and 1.3.2 of basler-tof-driver, but should work with any version >= 1.0.6 . Version 1.2.1 or later is recommended due to the improvements in the postprocessing filters.
  • When you upgrade from one BaslerToF library version to another, make sure to remove your build directory and rebuild. For some reason, cmake does not properly detect that the node has to be rebuilt.
  • Move the directory BaslerToF from that archive to /opt/BaslerToF.
  • Do not put this directory on your LD_LIBRARY_PATH; it contains custom versions of Qt and other libraries that interfere with the system libraries.
  • Clone this repo into your Catkin workspace and install as usual. If unsure, refer to the commands in the .travis.yml file.

Windows Installation

  • Install the Basler ToF Windows driver from baslerweb.com
  • Create a folder to be your catkin workspace
  • Create a src subdirectory, and clone this repository to basler_tof under that src directory
  • Invoke catkin_make from your catkin workspace, and then source the new package into ROS
   c:\ws>catkin_make
   c:\ws>.\devel\setup.bat

Running

Linux:

roslaunch basler_tof basler_tof.launch

Windows:

roslaunch basler_tof basler_tof_win.launch

ROS API (basler_tof_node)

Published Topics

confidence/image_raw

confidence/image_raw (sensor_msgs/Image)

  • The confidence image (each pixel represents the confidence in the depth value). This is the same as the intensity image, but with too bright / dark pixels beyond a certain threshold replaced by NaN values.

confidence/camera_info (sensor_msgs/CameraInfo)

  • The corresponding camera info (calibration values).

depth/image_raw

depth/image_raw (sensor_msgs/Image)

  • The depth image.

depth/camera_info (sensor_msgs/CameraInfo)

  • The corresponding camera info (calibration values).

intensity/image_raw

intensity/image_raw (sensor_msgs/Image)

  • The intensity image.

intensity/camera_info (sensor_msgs/CameraInfo)

  • The corresponding camera info (calibration values).

points

points (sensor_msgs/PointCloud2)

  • Point cloud, directly from the device driver. Has intensities, but cannot be user-calibrated.

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/basler_tof.launch
      • camera [default: camera]
      • frame_id [default: $(arg camera)_optical_frame]
      • publish_tf [default: true]
      • basler_tof_path [default: /opt/BaslerToF]
      • device_id [default: #1]
      • device_channel [default: 0]
      • camera_info_url [default: package://basler_tof/camera_info/TOF_ES_21781335.yaml]
      • points_xyz [default: true]
      • rectify_depth [default: true]
      • camera [default: $(arg camera)]
      • device_id [default: $(arg device_id)]
      • frame_id [default: $(arg frame_id)]
      • publish_tf [default: $(arg publish_tf)]
      • basler_tof_path [default: $(arg basler_tof_path)]
      • camera_info_url [default: $(arg camera_info_url)]
      • device_channel [default: $(arg device_channel)]
      • camera [default: $(arg camera)]
      • points_xyz [default: $(arg points_xyz)]
      • rectify_depth [default: $(arg rectify_depth)]
  • launch/basler_tof_win.launch
      • camera [default: camera]
      • frame_id [default: $(arg camera)_optical_frame]
      • publish_tf [default: true]
      • basler_tof_path [default: C:/Program Files/Basler/ToF/bin/x64]
      • device_id [default: #1]
      • camera_info_url [default: package://basler_tof/camera_info/TOF_ES_21781335.yaml]
      • points_xyz [default: true]
      • rectify_depth [default: true]
      • camera [default: $(arg camera)]
      • device_id [default: $(arg device_id)]
      • frame_id [default: $(arg frame_id)]
      • publish_tf [default: $(arg publish_tf)]
      • basler_tof_path [default: $(arg basler_tof_path)]
      • camera_info_url [default: $(arg camera_info_url)]
      • camera [default: $(arg camera)]
      • points_xyz [default: $(arg points_xyz)]
      • rectify_depth [default: $(arg rectify_depth)]
  • launch/includes/device.launch.win.xml
      • camera [default: camera]
      • frame_id [default: $(arg camera)_optical_frame]
      • publish_tf [default: true]
      • basler_tof_path [default: C:/Program Files/Basler/ToF/bin/x64]
      • device_id [default: #1]
      • camera_info_url [default: ]
  • launch/includes/device.launch.xml
      • camera [default: camera]
      • frame_id [default: $(arg camera)_optical_frame]
      • publish_tf [default: true]
      • basler_tof_path [default: /opt/BaslerToF]
      • device_id [default: #1]
      • device_channel [default: 0]
      • camera_info_url [default: ]
  • launch/includes/processing.launch.xml
      • camera [default: camera]
      • points_xyz [default: true]
      • rectify_depth [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged basler_tof at Robotics Stack Exchange

No version for distro jazzy showing melodic. Known supported distros are highlighted in the buttons above.
Package symbol

basler_tof package from basler_tof repo

basler_tof

ROS Distro
melodic

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.0.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description ROS driver for the Basler ToF ES camera
Checkout URI https://github.com/uos/basler_tof.git
VCS Type git
VCS Version melodic
Last Updated 2020-11-16
Dev Status DEVELOPED
Released UNRELEASED
Tags ros ros-driver basler-tof
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Driver for the Basler ToF camera based on GenTL

Additional Links

Maintainers

  • Martin Guenther

Authors

  • Martin Guenther
README.md

Basler ToF camera ROS driver

This is a ROS driver for the Basler ToF ES (Engineering Sample) 3D camera:

Basler ToF ES

Linux Installation

  • Get the file basler-tof-driver-1.4.1.1450-x86_64.tar.gz (available from baslerweb.com) and unpack it. (This driver has been tested with versions 1.0.6, 1.1.0, 1.2.1, 1.3.1 and 1.3.2 of basler-tof-driver, but should work with any version >= 1.0.6 . Version 1.2.1 or later is recommended due to the improvements in the postprocessing filters.
  • When you upgrade from one BaslerToF library version to another, make sure to remove your build directory and rebuild. For some reason, cmake does not properly detect that the node has to be rebuilt.
  • Move the directory BaslerToF from that archive to /opt/BaslerToF.
  • Do not put this directory on your LD_LIBRARY_PATH; it contains custom versions of Qt and other libraries that interfere with the system libraries.
  • Clone this repo into your Catkin workspace and install as usual. If unsure, refer to the commands in the .travis.yml file.

Windows Installation

  • Install the Basler ToF Windows driver from baslerweb.com
  • Create a folder to be your catkin workspace
  • Create a src subdirectory, and clone this repository to basler_tof under that src directory
  • Invoke catkin_make from your catkin workspace, and then source the new package into ROS
   c:\ws>catkin_make
   c:\ws>.\devel\setup.bat

Running

Linux:

roslaunch basler_tof basler_tof.launch

Windows:

roslaunch basler_tof basler_tof_win.launch

ROS API (basler_tof_node)

Published Topics

confidence/image_raw

confidence/image_raw (sensor_msgs/Image)

  • The confidence image (each pixel represents the confidence in the depth value). This is the same as the intensity image, but with too bright / dark pixels beyond a certain threshold replaced by NaN values.

confidence/camera_info (sensor_msgs/CameraInfo)

  • The corresponding camera info (calibration values).

depth/image_raw

depth/image_raw (sensor_msgs/Image)

  • The depth image.

depth/camera_info (sensor_msgs/CameraInfo)

  • The corresponding camera info (calibration values).

intensity/image_raw

intensity/image_raw (sensor_msgs/Image)

  • The intensity image.

intensity/camera_info (sensor_msgs/CameraInfo)

  • The corresponding camera info (calibration values).

points

points (sensor_msgs/PointCloud2)

  • Point cloud, directly from the device driver. Has intensities, but cannot be user-calibrated.

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/basler_tof.launch
      • camera [default: camera]
      • frame_id [default: $(arg camera)_optical_frame]
      • publish_tf [default: true]
      • basler_tof_path [default: /opt/BaslerToF]
      • device_id [default: #1]
      • device_channel [default: 0]
      • camera_info_url [default: package://basler_tof/camera_info/TOF_ES_21781335.yaml]
      • points_xyz [default: true]
      • rectify_depth [default: true]
      • camera [default: $(arg camera)]
      • device_id [default: $(arg device_id)]
      • frame_id [default: $(arg frame_id)]
      • publish_tf [default: $(arg publish_tf)]
      • basler_tof_path [default: $(arg basler_tof_path)]
      • camera_info_url [default: $(arg camera_info_url)]
      • device_channel [default: $(arg device_channel)]
      • camera [default: $(arg camera)]
      • points_xyz [default: $(arg points_xyz)]
      • rectify_depth [default: $(arg rectify_depth)]
  • launch/basler_tof_win.launch
      • camera [default: camera]
      • frame_id [default: $(arg camera)_optical_frame]
      • publish_tf [default: true]
      • basler_tof_path [default: C:/Program Files/Basler/ToF/bin/x64]
      • device_id [default: #1]
      • camera_info_url [default: package://basler_tof/camera_info/TOF_ES_21781335.yaml]
      • points_xyz [default: true]
      • rectify_depth [default: true]
      • camera [default: $(arg camera)]
      • device_id [default: $(arg device_id)]
      • frame_id [default: $(arg frame_id)]
      • publish_tf [default: $(arg publish_tf)]
      • basler_tof_path [default: $(arg basler_tof_path)]
      • camera_info_url [default: $(arg camera_info_url)]
      • camera [default: $(arg camera)]
      • points_xyz [default: $(arg points_xyz)]
      • rectify_depth [default: $(arg rectify_depth)]
  • launch/includes/device.launch.win.xml
      • camera [default: camera]
      • frame_id [default: $(arg camera)_optical_frame]
      • publish_tf [default: true]
      • basler_tof_path [default: C:/Program Files/Basler/ToF/bin/x64]
      • device_id [default: #1]
      • camera_info_url [default: ]
  • launch/includes/device.launch.xml
      • camera [default: camera]
      • frame_id [default: $(arg camera)_optical_frame]
      • publish_tf [default: true]
      • basler_tof_path [default: /opt/BaslerToF]
      • device_id [default: #1]
      • device_channel [default: 0]
      • camera_info_url [default: ]
  • launch/includes/processing.launch.xml
      • camera [default: camera]
      • points_xyz [default: true]
      • rectify_depth [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged basler_tof at Robotics Stack Exchange

No version for distro kilted showing melodic. Known supported distros are highlighted in the buttons above.
Package symbol

basler_tof package from basler_tof repo

basler_tof

ROS Distro
melodic

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.0.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description ROS driver for the Basler ToF ES camera
Checkout URI https://github.com/uos/basler_tof.git
VCS Type git
VCS Version melodic
Last Updated 2020-11-16
Dev Status DEVELOPED
Released UNRELEASED
Tags ros ros-driver basler-tof
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Driver for the Basler ToF camera based on GenTL

Additional Links

Maintainers

  • Martin Guenther

Authors

  • Martin Guenther
README.md

Basler ToF camera ROS driver

This is a ROS driver for the Basler ToF ES (Engineering Sample) 3D camera:

Basler ToF ES

Linux Installation

  • Get the file basler-tof-driver-1.4.1.1450-x86_64.tar.gz (available from baslerweb.com) and unpack it. (This driver has been tested with versions 1.0.6, 1.1.0, 1.2.1, 1.3.1 and 1.3.2 of basler-tof-driver, but should work with any version >= 1.0.6 . Version 1.2.1 or later is recommended due to the improvements in the postprocessing filters.
  • When you upgrade from one BaslerToF library version to another, make sure to remove your build directory and rebuild. For some reason, cmake does not properly detect that the node has to be rebuilt.
  • Move the directory BaslerToF from that archive to /opt/BaslerToF.
  • Do not put this directory on your LD_LIBRARY_PATH; it contains custom versions of Qt and other libraries that interfere with the system libraries.
  • Clone this repo into your Catkin workspace and install as usual. If unsure, refer to the commands in the .travis.yml file.

Windows Installation

  • Install the Basler ToF Windows driver from baslerweb.com
  • Create a folder to be your catkin workspace
  • Create a src subdirectory, and clone this repository to basler_tof under that src directory
  • Invoke catkin_make from your catkin workspace, and then source the new package into ROS
   c:\ws>catkin_make
   c:\ws>.\devel\setup.bat

Running

Linux:

roslaunch basler_tof basler_tof.launch

Windows:

roslaunch basler_tof basler_tof_win.launch

ROS API (basler_tof_node)

Published Topics

confidence/image_raw

confidence/image_raw (sensor_msgs/Image)

  • The confidence image (each pixel represents the confidence in the depth value). This is the same as the intensity image, but with too bright / dark pixels beyond a certain threshold replaced by NaN values.

confidence/camera_info (sensor_msgs/CameraInfo)

  • The corresponding camera info (calibration values).

depth/image_raw

depth/image_raw (sensor_msgs/Image)

  • The depth image.

depth/camera_info (sensor_msgs/CameraInfo)

  • The corresponding camera info (calibration values).

intensity/image_raw

intensity/image_raw (sensor_msgs/Image)

  • The intensity image.

intensity/camera_info (sensor_msgs/CameraInfo)

  • The corresponding camera info (calibration values).

points

points (sensor_msgs/PointCloud2)

  • Point cloud, directly from the device driver. Has intensities, but cannot be user-calibrated.

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/basler_tof.launch
      • camera [default: camera]
      • frame_id [default: $(arg camera)_optical_frame]
      • publish_tf [default: true]
      • basler_tof_path [default: /opt/BaslerToF]
      • device_id [default: #1]
      • device_channel [default: 0]
      • camera_info_url [default: package://basler_tof/camera_info/TOF_ES_21781335.yaml]
      • points_xyz [default: true]
      • rectify_depth [default: true]
      • camera [default: $(arg camera)]
      • device_id [default: $(arg device_id)]
      • frame_id [default: $(arg frame_id)]
      • publish_tf [default: $(arg publish_tf)]
      • basler_tof_path [default: $(arg basler_tof_path)]
      • camera_info_url [default: $(arg camera_info_url)]
      • device_channel [default: $(arg device_channel)]
      • camera [default: $(arg camera)]
      • points_xyz [default: $(arg points_xyz)]
      • rectify_depth [default: $(arg rectify_depth)]
  • launch/basler_tof_win.launch
      • camera [default: camera]
      • frame_id [default: $(arg camera)_optical_frame]
      • publish_tf [default: true]
      • basler_tof_path [default: C:/Program Files/Basler/ToF/bin/x64]
      • device_id [default: #1]
      • camera_info_url [default: package://basler_tof/camera_info/TOF_ES_21781335.yaml]
      • points_xyz [default: true]
      • rectify_depth [default: true]
      • camera [default: $(arg camera)]
      • device_id [default: $(arg device_id)]
      • frame_id [default: $(arg frame_id)]
      • publish_tf [default: $(arg publish_tf)]
      • basler_tof_path [default: $(arg basler_tof_path)]
      • camera_info_url [default: $(arg camera_info_url)]
      • camera [default: $(arg camera)]
      • points_xyz [default: $(arg points_xyz)]
      • rectify_depth [default: $(arg rectify_depth)]
  • launch/includes/device.launch.win.xml
      • camera [default: camera]
      • frame_id [default: $(arg camera)_optical_frame]
      • publish_tf [default: true]
      • basler_tof_path [default: C:/Program Files/Basler/ToF/bin/x64]
      • device_id [default: #1]
      • camera_info_url [default: ]
  • launch/includes/device.launch.xml
      • camera [default: camera]
      • frame_id [default: $(arg camera)_optical_frame]
      • publish_tf [default: true]
      • basler_tof_path [default: /opt/BaslerToF]
      • device_id [default: #1]
      • device_channel [default: 0]
      • camera_info_url [default: ]
  • launch/includes/processing.launch.xml
      • camera [default: camera]
      • points_xyz [default: true]
      • rectify_depth [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged basler_tof at Robotics Stack Exchange

No version for distro rolling showing melodic. Known supported distros are highlighted in the buttons above.
Package symbol

basler_tof package from basler_tof repo

basler_tof

ROS Distro
melodic

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.0.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description ROS driver for the Basler ToF ES camera
Checkout URI https://github.com/uos/basler_tof.git
VCS Type git
VCS Version melodic
Last Updated 2020-11-16
Dev Status DEVELOPED
Released UNRELEASED
Tags ros ros-driver basler-tof
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Driver for the Basler ToF camera based on GenTL

Additional Links

Maintainers

  • Martin Guenther

Authors

  • Martin Guenther
README.md

Basler ToF camera ROS driver

This is a ROS driver for the Basler ToF ES (Engineering Sample) 3D camera:

Basler ToF ES

Linux Installation

  • Get the file basler-tof-driver-1.4.1.1450-x86_64.tar.gz (available from baslerweb.com) and unpack it. (This driver has been tested with versions 1.0.6, 1.1.0, 1.2.1, 1.3.1 and 1.3.2 of basler-tof-driver, but should work with any version >= 1.0.6 . Version 1.2.1 or later is recommended due to the improvements in the postprocessing filters.
  • When you upgrade from one BaslerToF library version to another, make sure to remove your build directory and rebuild. For some reason, cmake does not properly detect that the node has to be rebuilt.
  • Move the directory BaslerToF from that archive to /opt/BaslerToF.
  • Do not put this directory on your LD_LIBRARY_PATH; it contains custom versions of Qt and other libraries that interfere with the system libraries.
  • Clone this repo into your Catkin workspace and install as usual. If unsure, refer to the commands in the .travis.yml file.

Windows Installation

  • Install the Basler ToF Windows driver from baslerweb.com
  • Create a folder to be your catkin workspace
  • Create a src subdirectory, and clone this repository to basler_tof under that src directory
  • Invoke catkin_make from your catkin workspace, and then source the new package into ROS
   c:\ws>catkin_make
   c:\ws>.\devel\setup.bat

Running

Linux:

roslaunch basler_tof basler_tof.launch

Windows:

roslaunch basler_tof basler_tof_win.launch

ROS API (basler_tof_node)

Published Topics

confidence/image_raw

confidence/image_raw (sensor_msgs/Image)

  • The confidence image (each pixel represents the confidence in the depth value). This is the same as the intensity image, but with too bright / dark pixels beyond a certain threshold replaced by NaN values.

confidence/camera_info (sensor_msgs/CameraInfo)

  • The corresponding camera info (calibration values).

depth/image_raw

depth/image_raw (sensor_msgs/Image)

  • The depth image.

depth/camera_info (sensor_msgs/CameraInfo)

  • The corresponding camera info (calibration values).

intensity/image_raw

intensity/image_raw (sensor_msgs/Image)

  • The intensity image.

intensity/camera_info (sensor_msgs/CameraInfo)

  • The corresponding camera info (calibration values).

points

points (sensor_msgs/PointCloud2)

  • Point cloud, directly from the device driver. Has intensities, but cannot be user-calibrated.

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/basler_tof.launch
      • camera [default: camera]
      • frame_id [default: $(arg camera)_optical_frame]
      • publish_tf [default: true]
      • basler_tof_path [default: /opt/BaslerToF]
      • device_id [default: #1]
      • device_channel [default: 0]
      • camera_info_url [default: package://basler_tof/camera_info/TOF_ES_21781335.yaml]
      • points_xyz [default: true]
      • rectify_depth [default: true]
      • camera [default: $(arg camera)]
      • device_id [default: $(arg device_id)]
      • frame_id [default: $(arg frame_id)]
      • publish_tf [default: $(arg publish_tf)]
      • basler_tof_path [default: $(arg basler_tof_path)]
      • camera_info_url [default: $(arg camera_info_url)]
      • device_channel [default: $(arg device_channel)]
      • camera [default: $(arg camera)]
      • points_xyz [default: $(arg points_xyz)]
      • rectify_depth [default: $(arg rectify_depth)]
  • launch/basler_tof_win.launch
      • camera [default: camera]
      • frame_id [default: $(arg camera)_optical_frame]
      • publish_tf [default: true]
      • basler_tof_path [default: C:/Program Files/Basler/ToF/bin/x64]
      • device_id [default: #1]
      • camera_info_url [default: package://basler_tof/camera_info/TOF_ES_21781335.yaml]
      • points_xyz [default: true]
      • rectify_depth [default: true]
      • camera [default: $(arg camera)]
      • device_id [default: $(arg device_id)]
      • frame_id [default: $(arg frame_id)]
      • publish_tf [default: $(arg publish_tf)]
      • basler_tof_path [default: $(arg basler_tof_path)]
      • camera_info_url [default: $(arg camera_info_url)]
      • camera [default: $(arg camera)]
      • points_xyz [default: $(arg points_xyz)]
      • rectify_depth [default: $(arg rectify_depth)]
  • launch/includes/device.launch.win.xml
      • camera [default: camera]
      • frame_id [default: $(arg camera)_optical_frame]
      • publish_tf [default: true]
      • basler_tof_path [default: C:/Program Files/Basler/ToF/bin/x64]
      • device_id [default: #1]
      • camera_info_url [default: ]
  • launch/includes/device.launch.xml
      • camera [default: camera]
      • frame_id [default: $(arg camera)_optical_frame]
      • publish_tf [default: true]
      • basler_tof_path [default: /opt/BaslerToF]
      • device_id [default: #1]
      • device_channel [default: 0]
      • camera_info_url [default: ]
  • launch/includes/processing.launch.xml
      • camera [default: camera]
      • points_xyz [default: true]
      • rectify_depth [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged basler_tof at Robotics Stack Exchange

No version for distro github showing melodic. Known supported distros are highlighted in the buttons above.
Package symbol

basler_tof package from basler_tof repo

basler_tof

ROS Distro
melodic

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.0.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description ROS driver for the Basler ToF ES camera
Checkout URI https://github.com/uos/basler_tof.git
VCS Type git
VCS Version melodic
Last Updated 2020-11-16
Dev Status DEVELOPED
Released UNRELEASED
Tags ros ros-driver basler-tof
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Driver for the Basler ToF camera based on GenTL

Additional Links

Maintainers

  • Martin Guenther

Authors

  • Martin Guenther
README.md

Basler ToF camera ROS driver

This is a ROS driver for the Basler ToF ES (Engineering Sample) 3D camera:

Basler ToF ES

Linux Installation

  • Get the file basler-tof-driver-1.4.1.1450-x86_64.tar.gz (available from baslerweb.com) and unpack it. (This driver has been tested with versions 1.0.6, 1.1.0, 1.2.1, 1.3.1 and 1.3.2 of basler-tof-driver, but should work with any version >= 1.0.6 . Version 1.2.1 or later is recommended due to the improvements in the postprocessing filters.
  • When you upgrade from one BaslerToF library version to another, make sure to remove your build directory and rebuild. For some reason, cmake does not properly detect that the node has to be rebuilt.
  • Move the directory BaslerToF from that archive to /opt/BaslerToF.
  • Do not put this directory on your LD_LIBRARY_PATH; it contains custom versions of Qt and other libraries that interfere with the system libraries.
  • Clone this repo into your Catkin workspace and install as usual. If unsure, refer to the commands in the .travis.yml file.

Windows Installation

  • Install the Basler ToF Windows driver from baslerweb.com
  • Create a folder to be your catkin workspace
  • Create a src subdirectory, and clone this repository to basler_tof under that src directory
  • Invoke catkin_make from your catkin workspace, and then source the new package into ROS
   c:\ws>catkin_make
   c:\ws>.\devel\setup.bat

Running

Linux:

roslaunch basler_tof basler_tof.launch

Windows:

roslaunch basler_tof basler_tof_win.launch

ROS API (basler_tof_node)

Published Topics

confidence/image_raw

confidence/image_raw (sensor_msgs/Image)

  • The confidence image (each pixel represents the confidence in the depth value). This is the same as the intensity image, but with too bright / dark pixels beyond a certain threshold replaced by NaN values.

confidence/camera_info (sensor_msgs/CameraInfo)

  • The corresponding camera info (calibration values).

depth/image_raw

depth/image_raw (sensor_msgs/Image)

  • The depth image.

depth/camera_info (sensor_msgs/CameraInfo)

  • The corresponding camera info (calibration values).

intensity/image_raw

intensity/image_raw (sensor_msgs/Image)

  • The intensity image.

intensity/camera_info (sensor_msgs/CameraInfo)

  • The corresponding camera info (calibration values).

points

points (sensor_msgs/PointCloud2)

  • Point cloud, directly from the device driver. Has intensities, but cannot be user-calibrated.

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/basler_tof.launch
      • camera [default: camera]
      • frame_id [default: $(arg camera)_optical_frame]
      • publish_tf [default: true]
      • basler_tof_path [default: /opt/BaslerToF]
      • device_id [default: #1]
      • device_channel [default: 0]
      • camera_info_url [default: package://basler_tof/camera_info/TOF_ES_21781335.yaml]
      • points_xyz [default: true]
      • rectify_depth [default: true]
      • camera [default: $(arg camera)]
      • device_id [default: $(arg device_id)]
      • frame_id [default: $(arg frame_id)]
      • publish_tf [default: $(arg publish_tf)]
      • basler_tof_path [default: $(arg basler_tof_path)]
      • camera_info_url [default: $(arg camera_info_url)]
      • device_channel [default: $(arg device_channel)]
      • camera [default: $(arg camera)]
      • points_xyz [default: $(arg points_xyz)]
      • rectify_depth [default: $(arg rectify_depth)]
  • launch/basler_tof_win.launch
      • camera [default: camera]
      • frame_id [default: $(arg camera)_optical_frame]
      • publish_tf [default: true]
      • basler_tof_path [default: C:/Program Files/Basler/ToF/bin/x64]
      • device_id [default: #1]
      • camera_info_url [default: package://basler_tof/camera_info/TOF_ES_21781335.yaml]
      • points_xyz [default: true]
      • rectify_depth [default: true]
      • camera [default: $(arg camera)]
      • device_id [default: $(arg device_id)]
      • frame_id [default: $(arg frame_id)]
      • publish_tf [default: $(arg publish_tf)]
      • basler_tof_path [default: $(arg basler_tof_path)]
      • camera_info_url [default: $(arg camera_info_url)]
      • camera [default: $(arg camera)]
      • points_xyz [default: $(arg points_xyz)]
      • rectify_depth [default: $(arg rectify_depth)]
  • launch/includes/device.launch.win.xml
      • camera [default: camera]
      • frame_id [default: $(arg camera)_optical_frame]
      • publish_tf [default: true]
      • basler_tof_path [default: C:/Program Files/Basler/ToF/bin/x64]
      • device_id [default: #1]
      • camera_info_url [default: ]
  • launch/includes/device.launch.xml
      • camera [default: camera]
      • frame_id [default: $(arg camera)_optical_frame]
      • publish_tf [default: true]
      • basler_tof_path [default: /opt/BaslerToF]
      • device_id [default: #1]
      • device_channel [default: 0]
      • camera_info_url [default: ]
  • launch/includes/processing.launch.xml
      • camera [default: camera]
      • points_xyz [default: true]
      • rectify_depth [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged basler_tof at Robotics Stack Exchange

No version for distro galactic showing melodic. Known supported distros are highlighted in the buttons above.
Package symbol

basler_tof package from basler_tof repo

basler_tof

ROS Distro
melodic

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.0.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description ROS driver for the Basler ToF ES camera
Checkout URI https://github.com/uos/basler_tof.git
VCS Type git
VCS Version melodic
Last Updated 2020-11-16
Dev Status DEVELOPED
Released UNRELEASED
Tags ros ros-driver basler-tof
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Driver for the Basler ToF camera based on GenTL

Additional Links

Maintainers

  • Martin Guenther

Authors

  • Martin Guenther
README.md

Basler ToF camera ROS driver

This is a ROS driver for the Basler ToF ES (Engineering Sample) 3D camera:

Basler ToF ES

Linux Installation

  • Get the file basler-tof-driver-1.4.1.1450-x86_64.tar.gz (available from baslerweb.com) and unpack it. (This driver has been tested with versions 1.0.6, 1.1.0, 1.2.1, 1.3.1 and 1.3.2 of basler-tof-driver, but should work with any version >= 1.0.6 . Version 1.2.1 or later is recommended due to the improvements in the postprocessing filters.
  • When you upgrade from one BaslerToF library version to another, make sure to remove your build directory and rebuild. For some reason, cmake does not properly detect that the node has to be rebuilt.
  • Move the directory BaslerToF from that archive to /opt/BaslerToF.
  • Do not put this directory on your LD_LIBRARY_PATH; it contains custom versions of Qt and other libraries that interfere with the system libraries.
  • Clone this repo into your Catkin workspace and install as usual. If unsure, refer to the commands in the .travis.yml file.

Windows Installation

  • Install the Basler ToF Windows driver from baslerweb.com
  • Create a folder to be your catkin workspace
  • Create a src subdirectory, and clone this repository to basler_tof under that src directory
  • Invoke catkin_make from your catkin workspace, and then source the new package into ROS
   c:\ws>catkin_make
   c:\ws>.\devel\setup.bat

Running

Linux:

roslaunch basler_tof basler_tof.launch

Windows:

roslaunch basler_tof basler_tof_win.launch

ROS API (basler_tof_node)

Published Topics

confidence/image_raw

confidence/image_raw (sensor_msgs/Image)

  • The confidence image (each pixel represents the confidence in the depth value). This is the same as the intensity image, but with too bright / dark pixels beyond a certain threshold replaced by NaN values.

confidence/camera_info (sensor_msgs/CameraInfo)

  • The corresponding camera info (calibration values).

depth/image_raw

depth/image_raw (sensor_msgs/Image)

  • The depth image.

depth/camera_info (sensor_msgs/CameraInfo)

  • The corresponding camera info (calibration values).

intensity/image_raw

intensity/image_raw (sensor_msgs/Image)

  • The intensity image.

intensity/camera_info (sensor_msgs/CameraInfo)

  • The corresponding camera info (calibration values).

points

points (sensor_msgs/PointCloud2)

  • Point cloud, directly from the device driver. Has intensities, but cannot be user-calibrated.

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/basler_tof.launch
      • camera [default: camera]
      • frame_id [default: $(arg camera)_optical_frame]
      • publish_tf [default: true]
      • basler_tof_path [default: /opt/BaslerToF]
      • device_id [default: #1]
      • device_channel [default: 0]
      • camera_info_url [default: package://basler_tof/camera_info/TOF_ES_21781335.yaml]
      • points_xyz [default: true]
      • rectify_depth [default: true]
      • camera [default: $(arg camera)]
      • device_id [default: $(arg device_id)]
      • frame_id [default: $(arg frame_id)]
      • publish_tf [default: $(arg publish_tf)]
      • basler_tof_path [default: $(arg basler_tof_path)]
      • camera_info_url [default: $(arg camera_info_url)]
      • device_channel [default: $(arg device_channel)]
      • camera [default: $(arg camera)]
      • points_xyz [default: $(arg points_xyz)]
      • rectify_depth [default: $(arg rectify_depth)]
  • launch/basler_tof_win.launch
      • camera [default: camera]
      • frame_id [default: $(arg camera)_optical_frame]
      • publish_tf [default: true]
      • basler_tof_path [default: C:/Program Files/Basler/ToF/bin/x64]
      • device_id [default: #1]
      • camera_info_url [default: package://basler_tof/camera_info/TOF_ES_21781335.yaml]
      • points_xyz [default: true]
      • rectify_depth [default: true]
      • camera [default: $(arg camera)]
      • device_id [default: $(arg device_id)]
      • frame_id [default: $(arg frame_id)]
      • publish_tf [default: $(arg publish_tf)]
      • basler_tof_path [default: $(arg basler_tof_path)]
      • camera_info_url [default: $(arg camera_info_url)]
      • camera [default: $(arg camera)]
      • points_xyz [default: $(arg points_xyz)]
      • rectify_depth [default: $(arg rectify_depth)]
  • launch/includes/device.launch.win.xml
      • camera [default: camera]
      • frame_id [default: $(arg camera)_optical_frame]
      • publish_tf [default: true]
      • basler_tof_path [default: C:/Program Files/Basler/ToF/bin/x64]
      • device_id [default: #1]
      • camera_info_url [default: ]
  • launch/includes/device.launch.xml
      • camera [default: camera]
      • frame_id [default: $(arg camera)_optical_frame]
      • publish_tf [default: true]
      • basler_tof_path [default: /opt/BaslerToF]
      • device_id [default: #1]
      • device_channel [default: 0]
      • camera_info_url [default: ]
  • launch/includes/processing.launch.xml
      • camera [default: camera]
      • points_xyz [default: true]
      • rectify_depth [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged basler_tof at Robotics Stack Exchange

No version for distro iron showing melodic. Known supported distros are highlighted in the buttons above.
Package symbol

basler_tof package from basler_tof repo

basler_tof

ROS Distro
melodic

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.0.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description ROS driver for the Basler ToF ES camera
Checkout URI https://github.com/uos/basler_tof.git
VCS Type git
VCS Version melodic
Last Updated 2020-11-16
Dev Status DEVELOPED
Released UNRELEASED
Tags ros ros-driver basler-tof
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Driver for the Basler ToF camera based on GenTL

Additional Links

Maintainers

  • Martin Guenther

Authors

  • Martin Guenther
README.md

Basler ToF camera ROS driver

This is a ROS driver for the Basler ToF ES (Engineering Sample) 3D camera:

Basler ToF ES

Linux Installation

  • Get the file basler-tof-driver-1.4.1.1450-x86_64.tar.gz (available from baslerweb.com) and unpack it. (This driver has been tested with versions 1.0.6, 1.1.0, 1.2.1, 1.3.1 and 1.3.2 of basler-tof-driver, but should work with any version >= 1.0.6 . Version 1.2.1 or later is recommended due to the improvements in the postprocessing filters.
  • When you upgrade from one BaslerToF library version to another, make sure to remove your build directory and rebuild. For some reason, cmake does not properly detect that the node has to be rebuilt.
  • Move the directory BaslerToF from that archive to /opt/BaslerToF.
  • Do not put this directory on your LD_LIBRARY_PATH; it contains custom versions of Qt and other libraries that interfere with the system libraries.
  • Clone this repo into your Catkin workspace and install as usual. If unsure, refer to the commands in the .travis.yml file.

Windows Installation

  • Install the Basler ToF Windows driver from baslerweb.com
  • Create a folder to be your catkin workspace
  • Create a src subdirectory, and clone this repository to basler_tof under that src directory
  • Invoke catkin_make from your catkin workspace, and then source the new package into ROS
   c:\ws>catkin_make
   c:\ws>.\devel\setup.bat

Running

Linux:

roslaunch basler_tof basler_tof.launch

Windows:

roslaunch basler_tof basler_tof_win.launch

ROS API (basler_tof_node)

Published Topics

confidence/image_raw

confidence/image_raw (sensor_msgs/Image)

  • The confidence image (each pixel represents the confidence in the depth value). This is the same as the intensity image, but with too bright / dark pixels beyond a certain threshold replaced by NaN values.

confidence/camera_info (sensor_msgs/CameraInfo)

  • The corresponding camera info (calibration values).

depth/image_raw

depth/image_raw (sensor_msgs/Image)

  • The depth image.

depth/camera_info (sensor_msgs/CameraInfo)

  • The corresponding camera info (calibration values).

intensity/image_raw

intensity/image_raw (sensor_msgs/Image)

  • The intensity image.

intensity/camera_info (sensor_msgs/CameraInfo)

  • The corresponding camera info (calibration values).

points

points (sensor_msgs/PointCloud2)

  • Point cloud, directly from the device driver. Has intensities, but cannot be user-calibrated.

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/basler_tof.launch
      • camera [default: camera]
      • frame_id [default: $(arg camera)_optical_frame]
      • publish_tf [default: true]
      • basler_tof_path [default: /opt/BaslerToF]
      • device_id [default: #1]
      • device_channel [default: 0]
      • camera_info_url [default: package://basler_tof/camera_info/TOF_ES_21781335.yaml]
      • points_xyz [default: true]
      • rectify_depth [default: true]
      • camera [default: $(arg camera)]
      • device_id [default: $(arg device_id)]
      • frame_id [default: $(arg frame_id)]
      • publish_tf [default: $(arg publish_tf)]
      • basler_tof_path [default: $(arg basler_tof_path)]
      • camera_info_url [default: $(arg camera_info_url)]
      • device_channel [default: $(arg device_channel)]
      • camera [default: $(arg camera)]
      • points_xyz [default: $(arg points_xyz)]
      • rectify_depth [default: $(arg rectify_depth)]
  • launch/basler_tof_win.launch
      • camera [default: camera]
      • frame_id [default: $(arg camera)_optical_frame]
      • publish_tf [default: true]
      • basler_tof_path [default: C:/Program Files/Basler/ToF/bin/x64]
      • device_id [default: #1]
      • camera_info_url [default: package://basler_tof/camera_info/TOF_ES_21781335.yaml]
      • points_xyz [default: true]
      • rectify_depth [default: true]
      • camera [default: $(arg camera)]
      • device_id [default: $(arg device_id)]
      • frame_id [default: $(arg frame_id)]
      • publish_tf [default: $(arg publish_tf)]
      • basler_tof_path [default: $(arg basler_tof_path)]
      • camera_info_url [default: $(arg camera_info_url)]
      • camera [default: $(arg camera)]
      • points_xyz [default: $(arg points_xyz)]
      • rectify_depth [default: $(arg rectify_depth)]
  • launch/includes/device.launch.win.xml
      • camera [default: camera]
      • frame_id [default: $(arg camera)_optical_frame]
      • publish_tf [default: true]
      • basler_tof_path [default: C:/Program Files/Basler/ToF/bin/x64]
      • device_id [default: #1]
      • camera_info_url [default: ]
  • launch/includes/device.launch.xml
      • camera [default: camera]
      • frame_id [default: $(arg camera)_optical_frame]
      • publish_tf [default: true]
      • basler_tof_path [default: /opt/BaslerToF]
      • device_id [default: #1]
      • device_channel [default: 0]
      • camera_info_url [default: ]
  • launch/includes/processing.launch.xml
      • camera [default: camera]
      • points_xyz [default: true]
      • rectify_depth [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged basler_tof at Robotics Stack Exchange

Package symbol

basler_tof package from basler_tof repo

basler_tof

ROS Distro
melodic

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 0.0.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description ROS driver for the Basler ToF ES camera
Checkout URI https://github.com/uos/basler_tof.git
VCS Type git
VCS Version melodic
Last Updated 2020-11-16
Dev Status DEVELOPED
Released UNRELEASED
Tags ros ros-driver basler-tof
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Driver for the Basler ToF camera based on GenTL

Additional Links

Maintainers

  • Martin Guenther

Authors

  • Martin Guenther
README.md

Basler ToF camera ROS driver

This is a ROS driver for the Basler ToF ES (Engineering Sample) 3D camera:

Basler ToF ES

Linux Installation

  • Get the file basler-tof-driver-1.4.1.1450-x86_64.tar.gz (available from baslerweb.com) and unpack it. (This driver has been tested with versions 1.0.6, 1.1.0, 1.2.1, 1.3.1 and 1.3.2 of basler-tof-driver, but should work with any version >= 1.0.6 . Version 1.2.1 or later is recommended due to the improvements in the postprocessing filters.
  • When you upgrade from one BaslerToF library version to another, make sure to remove your build directory and rebuild. For some reason, cmake does not properly detect that the node has to be rebuilt.
  • Move the directory BaslerToF from that archive to /opt/BaslerToF.
  • Do not put this directory on your LD_LIBRARY_PATH; it contains custom versions of Qt and other libraries that interfere with the system libraries.
  • Clone this repo into your Catkin workspace and install as usual. If unsure, refer to the commands in the .travis.yml file.

Windows Installation

  • Install the Basler ToF Windows driver from baslerweb.com
  • Create a folder to be your catkin workspace
  • Create a src subdirectory, and clone this repository to basler_tof under that src directory
  • Invoke catkin_make from your catkin workspace, and then source the new package into ROS
   c:\ws>catkin_make
   c:\ws>.\devel\setup.bat

Running

Linux:

roslaunch basler_tof basler_tof.launch

Windows:

roslaunch basler_tof basler_tof_win.launch

ROS API (basler_tof_node)

Published Topics

confidence/image_raw

confidence/image_raw (sensor_msgs/Image)

  • The confidence image (each pixel represents the confidence in the depth value). This is the same as the intensity image, but with too bright / dark pixels beyond a certain threshold replaced by NaN values.

confidence/camera_info (sensor_msgs/CameraInfo)

  • The corresponding camera info (calibration values).

depth/image_raw

depth/image_raw (sensor_msgs/Image)

  • The depth image.

depth/camera_info (sensor_msgs/CameraInfo)

  • The corresponding camera info (calibration values).

intensity/image_raw

intensity/image_raw (sensor_msgs/Image)

  • The intensity image.

intensity/camera_info (sensor_msgs/CameraInfo)

  • The corresponding camera info (calibration values).

points

points (sensor_msgs/PointCloud2)

  • Point cloud, directly from the device driver. Has intensities, but cannot be user-calibrated.

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/basler_tof.launch
      • camera [default: camera]
      • frame_id [default: $(arg camera)_optical_frame]
      • publish_tf [default: true]
      • basler_tof_path [default: /opt/BaslerToF]
      • device_id [default: #1]
      • device_channel [default: 0]
      • camera_info_url [default: package://basler_tof/camera_info/TOF_ES_21781335.yaml]
      • points_xyz [default: true]
      • rectify_depth [default: true]
      • camera [default: $(arg camera)]
      • device_id [default: $(arg device_id)]
      • frame_id [default: $(arg frame_id)]
      • publish_tf [default: $(arg publish_tf)]
      • basler_tof_path [default: $(arg basler_tof_path)]
      • camera_info_url [default: $(arg camera_info_url)]
      • device_channel [default: $(arg device_channel)]
      • camera [default: $(arg camera)]
      • points_xyz [default: $(arg points_xyz)]
      • rectify_depth [default: $(arg rectify_depth)]
  • launch/basler_tof_win.launch
      • camera [default: camera]
      • frame_id [default: $(arg camera)_optical_frame]
      • publish_tf [default: true]
      • basler_tof_path [default: C:/Program Files/Basler/ToF/bin/x64]
      • device_id [default: #1]
      • camera_info_url [default: package://basler_tof/camera_info/TOF_ES_21781335.yaml]
      • points_xyz [default: true]
      • rectify_depth [default: true]
      • camera [default: $(arg camera)]
      • device_id [default: $(arg device_id)]
      • frame_id [default: $(arg frame_id)]
      • publish_tf [default: $(arg publish_tf)]
      • basler_tof_path [default: $(arg basler_tof_path)]
      • camera_info_url [default: $(arg camera_info_url)]
      • camera [default: $(arg camera)]
      • points_xyz [default: $(arg points_xyz)]
      • rectify_depth [default: $(arg rectify_depth)]
  • launch/includes/device.launch.win.xml
      • camera [default: camera]
      • frame_id [default: $(arg camera)_optical_frame]
      • publish_tf [default: true]
      • basler_tof_path [default: C:/Program Files/Basler/ToF/bin/x64]
      • device_id [default: #1]
      • camera_info_url [default: ]
  • launch/includes/device.launch.xml
      • camera [default: camera]
      • frame_id [default: $(arg camera)_optical_frame]
      • publish_tf [default: true]
      • basler_tof_path [default: /opt/BaslerToF]
      • device_id [default: #1]
      • device_channel [default: 0]
      • camera_info_url [default: ]
  • launch/includes/processing.launch.xml
      • camera [default: camera]
      • points_xyz [default: true]
      • rectify_depth [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged basler_tof at Robotics Stack Exchange

Package symbol

basler_tof package from basler_tof repo

basler_tof

ROS Distro
noetic

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 0.0.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description ROS driver for the Basler ToF ES camera
Checkout URI https://github.com/uos/basler_tof.git
VCS Type git
VCS Version noetic
Last Updated 2020-11-16
Dev Status DEVELOPED
Released UNRELEASED
Tags ros ros-driver basler-tof
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Driver for the Basler ToF camera based on GenTL

Additional Links

Maintainers

  • Martin Guenther

Authors

  • Martin Guenther
README.md

Basler ToF camera ROS driver

This is a ROS driver for the Basler ToF ES (Engineering Sample) 3D camera:

Basler ToF ES

Linux Installation

  • Get the file basler-tof-driver-1.4.1.1450-x86_64.tar.gz (available from baslerweb.com) and unpack it. (This driver has been tested with versions 1.0.6, 1.1.0, 1.2.1, 1.3.1 and 1.3.2 of basler-tof-driver, but should work with any version >= 1.0.6 . Version 1.2.1 or later is recommended due to the improvements in the postprocessing filters.
  • When you upgrade from one BaslerToF library version to another, make sure to remove your build directory and rebuild. For some reason, cmake does not properly detect that the node has to be rebuilt.
  • Move the directory BaslerToF from that archive to /opt/BaslerToF.
  • Do not put this directory on your LD_LIBRARY_PATH; it contains custom versions of Qt and other libraries that interfere with the system libraries.
  • Clone this repo into your Catkin workspace and install as usual. If unsure, refer to the commands in the .travis.yml file.

Windows Installation

  • Install the Basler ToF Windows driver from baslerweb.com
  • Create a folder to be your catkin workspace
  • Create a src subdirectory, and clone this repository to basler_tof under that src directory
  • Invoke catkin_make from your catkin workspace, and then source the new package into ROS
   c:\ws>catkin_make
   c:\ws>.\devel\setup.bat

Running

Linux:

roslaunch basler_tof basler_tof.launch

Windows:

roslaunch basler_tof basler_tof_win.launch

ROS API (basler_tof_node)

Published Topics

confidence/image_raw

confidence/image_raw (sensor_msgs/Image)

  • The confidence image (each pixel represents the confidence in the depth value). This is the same as the intensity image, but with too bright / dark pixels beyond a certain threshold replaced by NaN values.

confidence/camera_info (sensor_msgs/CameraInfo)

  • The corresponding camera info (calibration values).

depth/image_raw

depth/image_raw (sensor_msgs/Image)

  • The depth image.

depth/camera_info (sensor_msgs/CameraInfo)

  • The corresponding camera info (calibration values).

intensity/image_raw

intensity/image_raw (sensor_msgs/Image)

  • The intensity image.

intensity/camera_info (sensor_msgs/CameraInfo)

  • The corresponding camera info (calibration values).

points

points (sensor_msgs/PointCloud2)

  • Point cloud, directly from the device driver. Has intensities, but cannot be user-calibrated.

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/basler_tof.launch
      • camera [default: camera]
      • frame_id [default: $(arg camera)_optical_frame]
      • publish_tf [default: true]
      • basler_tof_path [default: /opt/BaslerToF]
      • device_id [default: #1]
      • device_channel [default: 0]
      • camera_info_url [default: package://basler_tof/camera_info/TOF_ES_21781335.yaml]
      • points_xyz [default: true]
      • rectify_depth [default: true]
      • camera [default: $(arg camera)]
      • device_id [default: $(arg device_id)]
      • frame_id [default: $(arg frame_id)]
      • publish_tf [default: $(arg publish_tf)]
      • basler_tof_path [default: $(arg basler_tof_path)]
      • camera_info_url [default: $(arg camera_info_url)]
      • device_channel [default: $(arg device_channel)]
      • camera [default: $(arg camera)]
      • points_xyz [default: $(arg points_xyz)]
      • rectify_depth [default: $(arg rectify_depth)]
  • launch/basler_tof_win.launch
      • camera [default: camera]
      • frame_id [default: $(arg camera)_optical_frame]
      • publish_tf [default: true]
      • basler_tof_path [default: C:/Program Files/Basler/ToF/bin/x64]
      • device_id [default: #1]
      • camera_info_url [default: package://basler_tof/camera_info/TOF_ES_21781335.yaml]
      • points_xyz [default: true]
      • rectify_depth [default: true]
      • camera [default: $(arg camera)]
      • device_id [default: $(arg device_id)]
      • frame_id [default: $(arg frame_id)]
      • publish_tf [default: $(arg publish_tf)]
      • basler_tof_path [default: $(arg basler_tof_path)]
      • camera_info_url [default: $(arg camera_info_url)]
      • camera [default: $(arg camera)]
      • points_xyz [default: $(arg points_xyz)]
      • rectify_depth [default: $(arg rectify_depth)]
  • launch/includes/device.launch.win.xml
      • camera [default: camera]
      • frame_id [default: $(arg camera)_optical_frame]
      • publish_tf [default: true]
      • basler_tof_path [default: C:/Program Files/Basler/ToF/bin/x64]
      • device_id [default: #1]
      • camera_info_url [default: ]
  • launch/includes/device.launch.xml
      • camera [default: camera]
      • frame_id [default: $(arg camera)_optical_frame]
      • publish_tf [default: true]
      • basler_tof_path [default: /opt/BaslerToF]
      • device_id [default: #1]
      • device_channel [default: 0]
      • camera_info_url [default: ]
  • launch/includes/processing.launch.xml
      • camera [default: camera]
      • points_xyz [default: true]
      • rectify_depth [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged basler_tof at Robotics Stack Exchange