BTW, anyone that can has an SR3K device, and can test this, I would be 
interested to hear the results.  I have tested this on an SR4K on 
several Ubutnu platform, but I don't have an SR3K.

Anyone interested can get the camera_drivers_experimental stack, run 
'rosdep install sr4k', change a compile flag in the sr4k.h for SR3K use 
(this will get changed in the future to a configuration option), and you 
should be able to view the output in rviz using the node name as the 
frame id.



Radu Bogdan Rusu wrote:
> Great work Patrick! Thanks.
> 
> Btw, the swissranger in the TUM repository _was_ already handling both 
> SR3k and SR4k, as we had both sensors there. If it didn't properly, 
> someone must have introduced a bug somewhere. I remember Morgan sent me 
> some patches but due to me moving overseas, I never had time to check 
> them in.
> 
> Cheers,
> Radu.
> 
> Patrick Beeson wrote:
>> I have added a new sr4k package to the camera_drivers_experimental 
>> stack.  This extends the swissranger package in the tum repository to 
>> handle the newer Mesa Imaging libraries, and supports both SR3000 and 
>> SR4000 devices.
>>
>> I do not have an SR3K device, so I could only test with an SR4K, but 
>> the API is the same for both (an early calls tells the Mesa libraries 
>> which device you want to talk to and differences are handles at the 
>> Mesa library level).
>>
>> I have not yet included a standalone viewer, but users can view the 
>> output in rviz.  The current frame id is the node name (defaults to 
>> /sr4k).  The user can view Image and PointCloud types.  There are 3 2D 
>> images, distance, intensity, and confidence.
>>
>> Patrick Beeson
>>
>