[ros-users] camera1394 and swissranger

Dejan Pangercic dejan.pangercic at gmail.com
Fri Apr 2 16:59:14 UTC 2010

Hi all,
> No worries. :) I was surprised that my colleagues from TUM have not mentioned that earlier, as the sensors are still
> being used as far as I know.
Sorry for the late reply. We indeed have SR3K device but it is _not_
really in use anymore.
I'll test it with the new driver as soon as I manage to dig it out of
the limbo:-).


> Do you still want to proceed with modifying the driver to produce both PointCloud and PointCloud2 messages? I've started
> writing tutorials for PCL and basically doing something like a planar segmentation on PointCloud2 will be a single line
> command. You could then provide this as a demo for the SwissRanger driver on its wiki page, because let's face it, ths
> SR is probably going to do give you its best data from planar surfaces rather than anything else :)
> Cheers,
> Radu.
> Patrick Beeson wrote:
>> Sorry for the confusion.  I assumed that Mesa's libusb only handled
>> their older devices, and that the new libmesasr was created for the 4000
>> release.
>> 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
> --
> | Radu Bogdan Rusu | http://rbrusu.com/
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MSc. Dejan Pangercic
PhD Student/Researcher
Computer Science IX
Technische Universität München
Telephone: +49 (89) 289-17780
E-Mail: dejan.pangercic at in.tum.de
WWW: http://ias.cs.tum.edu/people/pangercic

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