Basler ToF camera ROS driver

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

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 (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 (sensor_msgs/Image)

• The depth image.

depth/camera_info (sensor_msgs/CameraInfo)

• The corresponding camera info (calibration values).

intensity/image_raw (sensor_msgs/Image)

• The intensity image.

intensity/camera_info (sensor_msgs/CameraInfo)

• The corresponding camera info (calibration values).

points (sensor_msgs/PointCloud2)

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

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