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Overview

This repository holds code of a ROS package for point cloud acquisition with a Gocator3109A camera. It is basically a ROS wrapper of the low-level API provided by LMI Technologies, the manufacturer of the camera.

Dependencies

The package has been tested with the following dependencies:

• Ubuntu 14.04
• CMake + gcc
• ROS Indigo
• Point Cloud Library v1.7 (shipped with ROS Indigo)
• GoSDK library (propietary library from manufacturer LMI Technologies)

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 from the LMI website (file 14400-4.2.5.17_SOFTWARE_GO_SDK.zip)
3. Uncompress GoSDK
4. Build GoSDK

$ cd GO_SDK/Gocator
$ make -f GoSdk-Gnu.mk 

Download

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

Build

1. Indicate, by editing the CMakeLists.txt of this package (line 58), where GoSDK library is placed (This point should be improved , see issue #7)
2. 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