Hi Patrick,
> 3) Jack, once you get into this, I might bend your ear to help me do the
> same for a unified Swissranger 3000/4000 driver.  I have a version that
> I expanded from Rasu's 3K driver that adds new functionality for 4K
> devices.   I also have a color camera/pointcloud registration node )with
> calibration utility) that would probably go in this stack (but could be
> used for stereo cameras).  I haven't looked around recently to see if
> others exist, but I don't remember seeing anything that worked in ros
>  >=0.9 several months back.
In which package does this registration node reside?
Is it somehow similar to Rosen's
http://www.ros.org/browse/details.php?name=laser_camera_calibration
pkg?
cheers, D.
-- 
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