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Overview

This repository holds code of a ROS-package for point cloud acquisition with a Gocator3109A camera.

Dependencies

The package has been tested with the following dependencies:

• Ubuntu 14.04
• CMake + gcc
• ROS Indigo
• Point Cloud Library (shipped with ROS)
• GoSDK library (propietary library from manufacturer LMI3D)

To install GoSDK dependency, the following steps are required:

1. With a Serial Number of a device, register as a customer at the LMI website

2. Download the SDK file: 14400-4.4.4.40_SOFTWARE_GO_SDK.zip

3. Uncompress GoSDK

4. Build GoSDK

$ make -f GoSdk-Gnu.mk 

5. Modify line 58 of CMakeFile.txt to add your path (THis point will be improved, see issue #7)

Download

$ git clone https://github.com/beta-robots/gocator_3100.git

Build

Once all the dependencies are installed, and the code has been download, the build procedure is the ROS-catkin standard. From your ROS workspace:

$ catkin_make --only-pkg-with-deps gocator_3100 

Execute

1. Plug your camera correctly, in terms of power, signal and grounding!
2. Properly edit the config/gocator_3100_params.yaml according your configuration and needs.
3. Call the launch file. From the package folder would be

roslaunch launch/gocator_3100.launch model_tf:=true