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sick_visionary_t: sick_visionary_t_driver

Package Summary

Open source driver for the SICK Visionary-T 3D TOF camera.

  • Maintainer status: developed
  • Maintainer: Joshua Hampp <joshua.hampp AT ipa.fraunhofer DOT de>, Marco Dierschke <marco.dierschke AT sick DOT de>
  • Author: Joshua Hampp <joshua.hampp AT ipa.fraunhofer DOT de>
  • License: Apache License, Version 2.0 (http://www.apache.org/licenses/LICENSE-2.0)
  • Source: git https://github.com/SICKAG/sick_visionary_t.git (branch: indigo_release_candidate)
sick_visionary_t: sick_visionary_t_driver

Package Summary

Open source driver for the SICK Visionary-T 3D TOF camera.

  • Maintainer status: maintained
  • Maintainer: Joshua Hampp <joshua.hampp AT ipa.fraunhofer DOT de>, Marco Dierschke <marco.dierschke AT sick DOT de>
  • Author: Joshua Hampp <joshua.hampp AT ipa.fraunhofer DOT de>
  • License: Apache License, Version 2.0 (http://www.apache.org/licenses/LICENSE-2.0)
  • Source: git https://github.com/SICKAG/sick_visionary_t.git (branch: indigo_release_candidate)

Description

This is an open source driver for the SICK visionary-T. The visionary-T is a 3D camera based on the time-of- flight (TOF) principle. It provides real-time 3D data at up to 30 frame per second (fps).

The 3D camera is configured and its images visualized via the SOPAS ET software.

Once configured it runs in stand-alone operation mode and continuously streams 3D data via TCP/IP.

Please see the operation manual for further information and/or technical details.

Driver repository:

build status

Supported Hardware

This driver works with the following products

API Stability

The 3D data streaming part of the ROS API is stable.

The digital i/o channel interface of this driver is considered unstable and not implemented yet.

Installation

In order to receive data, the IP address of the device has to be known. Using SOPAS ET the default IP address (192.168.1.10) can be verified, changed and stored permanently into the device.

In order to determine the IP address:

  1. first connect the camera device to a power source and the network interface to your computer, then
  2. start the SOPAS ET executable (Windows (r) based system required).

The device should be found, its IP address shown and automatically be added to the SOPAS project.

Make sure that the device is pingable to verify the correct network configuration.

The remote_device_ip parameter in the launch file needs to be set to the verified device IP address. This easiest way is to provide the parameter is in the launch file (launch/sick_visionary_t_driver.launch).

Operation

When the ROS driver is started, it sends a command that starts the data streaming of the visionary-T. When the driver is terminated, the data streaming is stopped at the device.

Attention
This means the device has to be power-cycled before it can be used with Sopas ET to view the 3D data.

ROS API

sick_visionary_t_driver_node

Open source driver for the SICK visionary-T 3d TOF camera.

Published Topics

Depth camera
Publishes depth, confidence and itensity data. camera/camera_info (sensor_msgs/CameraInfo) camera/depth (sensor_msgs/Image) camera/confidence (sensor_msgs/Image) camera/intensity (sensor_msgs/Image)
Status and inputs/outputs
Publishes the status information and IO state of the sensor. camera/ios (std_msgs/ByteMultiArray) /diagnostics (diagnostic_msgs/DiagnosticStatus)
Polar Scan
Publishes the response of the polar scan (uses 3D camera as laser scan, configuration by Sick software). camera/scan (sensor_msgs/LaserScan)
Height Map
Publishes the response of the height map (uses 3D camera to detect obstacles on the floor in front of the camera, configuration by Sick software). camera/cartesian (sensor_msgs/PointCloud2)

Services

enable_depth_map (std_srvs/Trigger) enable_height_map (std_srvs/Trigger) enable_polar_scan (std_srvs/Trigger)

Parameters

~remote_device_ip (string, default: 192.168.1.10) ~frame_id (string, default: camera) ~prevent_frame_skipping (bool, default: false) ~io_polling_interval (double, default: 0.1) ~channel (string, default: NO_CHANGE) ~user (string, default: SERVICE)


2019-07-13 13:11