Hi there, I just wanted to give you heads up on the SR3K situation which I also described in the following ticket: https://code.ros.org/trac/ros-pkg/ticket/3973 [TEXT FROM THE TICKET]: This patch fixes the issue with the SR3K's non-compatibility with the current version of the sr4k package/driver. After contacting the libmesasr-dev .deb package maintainer, I got the following answer on April 8th 2010: " For the SR3k please use the Beta Driver or a driver in the archive. This Bug will be fixed in the next release (in Beta it should already work). " Since the Beta package is only a dummy one, I picked the one from the archive instead. Thus besides applying the attached patch also following needs to be done to get the SR3K going: 1)Download manually the file www.mesa-imaging.ch/customer/calibData/camData00019e13.xml and save it to /usr/share/libmesasr/camData00019e13.xml 2)Download and install manually the following version of libmesasr-dev driver: libmesasr-dev-1.0.12-608.amd64.deb (http://www.mesa-imaging.ch/customer/driver/libmesasr-dev-1.0.12-608.amd64.deb) 3)Comment out line "#define USE_SR4K 1 // Comment this out for SR3K " in sr4k.h file. Note: The driver still fails to run every second time reporting the following message (still to be resolved): libMesaSR:libMesaSR:CMesaDevice::Read:usb_bulk_read failed! Request:0xb0 RequestType:0x40 Requested Size: 64 Received Size(Result): -110 libMesaSR:libMesaSR:CMesaDevice::Read: did not get requested bytes: 64<->0 libMesaSR:libMesaSR:CMesaDevice::Read:usb_bulk_read failed! Request:0xb0 RequestType:0x40 Requested Size: 64 Received Size(Result): -110 libMesaSR:libMesaSR:CMesaDevice::Read: did not get requested bytes: 64<->0 libMesaSR:libMesaSR:CMesaDevice::Read:usb_bulk_read failed! Request:0xb0 RequestType:0x40 Requested Size: 64 Received Size(Result): -110 libMesaSR:libMesaSR:CMesaDevice::Read: did not get requested bytes: 64<->0 [ INFO] [1270822790.869536346]: device::open? Number of images available: 4 [ERROR] [1270822790.869706410]: Exception thrown while connecting to the camera: [SR4K::open]: Invalid data images: 4 1x1 images received from camera! Expected 2 176x144 images. Now the question is, what does it take to get: a)sr4k renamed into swissranger, b)get the driver into stable waters? After that I'd then delete the one in tum-ros-pkg in order to prevent confusion. Btw, is there anyone using SR3K device at all? cheers, D. On Tue, Apr 6, 2010 at 10:27 PM, Patrick Beeson wrote: > > > Dejan Pangercic wrote: >> Hey Patrick, >>> If it doesn't find your camera, then I'd suggest manually downloading >>> the Beta libmesa .deb from the web and installing that instead of the >>> .deb that gets manually installed by my program.  Running >>> libMesaSRTester successfully is a prerequisite to having my driver work, >>> and will often flash the firmware to get the device in a state to talk >>> to the new API. >> This is how my testing ends (using your libmesa .deb): >> " >>>>>>   >>>> CMesaDevice::Read:usb_bulk_read failed! Request:0xb0 RequestType:0x40 Requested Size: 64 Received Size(Result): -110 >>>>>>   >>>> CMesaDevice::Read: did not get requested bytes: 64<->0 >>>>>>   >>>> CMesaDevice::Read:usb_bulk_read failed! Request:0xb0 RequestType:0x40 Requested Size: 64 Received Size(Result): -110 >>>>>>   >>>> CMesaDevice::Read: did not get requested bytes: 64<->0 >>>>>>   >>>> CMesaDevice::Read:usb_bulk_read failed! Request:0xb0 RequestType:0x40 Requested Size: 64 Received Size(Result): -110 >>>>>>   >>>> CMesaDevice::Read: did not get requested bytes: 64<->0 >>>>>>   >>>> CM_CAM_SELECT->CP_CS_CLOSEDLG >> ****002**** Testing SR_OpenDlg                        SUCCESS >> ****003**** Testing SR_GetDeviceString >>>>>>   >>>> VendorID:0x0852, ProductID:0x0074, Manufacturer:'CSEM SA', Product:'3D-SR3000   ' >> ****003**** Testing SR_GetDeviceString                SUCCESS >> ****004**** Testing SR_SetTimeout (BLIND)     SUCCESS >> ****005**** Testing Get Rows/Cols             FAILED >> ****006**** Testing Get Rows/Cols             FAILED >> ****007**** Testing GetImageList              SUCCESS >> ****008**** Testing GetImage                  SUCCESS >> ****009**** Testing GetImage                  SUCCESS >> ****010**** Testing GetImage                  SUCCESS >> ****011**** Testing GetImage                  SUCCESS >> Segmentation fault >> " >> Shall I be concerned about the seg. fault? >> >> > > You shouldn't see "FAILED" and definitely shouldn't get a segfault. > Did it print out any messages about "Flashing firmware" (or similar)? > I'm guessing that it isn't going to work until it upgrades the firmware, > which happens onmy SR4k, whenever I get a new version of the library. > > You may have to contact Mesa about this, as this library is supposed to > work for all their SR products.  Sorry that it doesn't seem to be > working for yours.  You could try their Windows version of the libmesasr > driver with their visualization software.  Mayne this will get far > enough along to flash the new firmware, which will allow it to work > under Linux.  Or maybe there is some manual process that isn't > documented to get some sr3K devices working with the new libmesa > libraries.  Again sorry. > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > -- MSc. Dejan Pangercic PhD Student/Researcher Computer Science IX Technische Universität München Telephone: +49 (89) 289-17780 E-Mail: dejan.pangercic@in.tum.de WWW: http://ias.cs.tum.edu/people/pangercic