Hi Patrick,
I finally got to test the driver with a SR3K device on a 64bit machine
running Ubuntu 9.10.
I could not get it pass following structure in dev_sr4k.cpp file:
"
 if ( (cols_ != SR_COLS) || (rows_ != SR_ROWS) ||
       (inr_ < SR_IMAGES) || (imgEntryArray_ == 0) )
    {
      SafeCleanup();
      SR_EXCEPT_ARGS(sr4k::Exception,
                     "Invalid data images: %d %dx%d images received
from camera!\n Expected %d %dx%d images.",
                     inr_, cols_, rows_, SR_IMAGES, SR_COLS, SR_ROWS);
      return (-1);
    }
"

After running the "roslaunch launch/sr4k.launch" command it outputs
the following exception:
"
[ INFO] [1270556935.964286581]: [SwissRanger device::open] Number of
images available: 2
[ERROR] [1270556935.964498968]: Exception thrown while connecting to the camera:
[SR4K::open]: Invalid data images: 2 176x144 images received from camera!
 Expected 3 176x144 image
"
And after running the command again then this one (funnily this
behavior then keeps going on this alternative way):
"
libMesaSR:libMesaSR:camera config file has no licence Information!

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] [1270556651.295522746]: [SwissRanger device::open] Number of
images available: 4
[ERROR] [1270556651.295721863]: Exception thrown while connecting to the camera:
[SR4K::open]: Invalid data images: 4 1x1 images received from camera!
 Expected 3 176x144 images.
"
It looks like "SR_GetImageList" function is not doing what it is supposed to...


Furthermore I had some problems opening the device node at the
beginning since on my machine (default ubuntu setting) all the nodes
in /dev/bus/usb/ are owned by root user and root group. The remedy for
that was to first find the bus and the device number and second to put
the node in the plugdev group:   "sudo chown root:plugdev
/dev/bus/usb/bus_nr/device_nr".

Lastly, at the first run I got the following warning:
"
Please download manually the file
www.mesa-imaging.ch/customer/calibData/camData00019e13.xml and save it
to /usr/share/libmesasr/camData00019e13.xml
libMesaSR:libMesaSR:can not parse camera config file
'/usr/share/libmesasr/camData00019e13.xml'!
"
Following the hint got me rid of the warning.

Hope this report helps a bit,
cheers, D.

On Wed, Mar 31, 2010 at 5:57 PM, Patrick Beeson <beeson.p@gmail.com> 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
>
> _______________________________________________
> 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