This repository holds code of a ROS package for point cloud acquisition with Gocator3200 3D cameras. It is basically a ROS wrapper of the low-level API provided by LMI Technologies, the manufacturer of the camera.
The package has been tested with the following dependencies:
- Ubuntu 20.04
- CMake + gcc
- ROS
- Point Cloud Library v1.7 (shipped with ROS)
- GoSDK library (propietary library from manufacturer LMI Technologies)
To install GoSDK dependency, download the following repo:
- first build the sdk:
run ./install.bash
- then set the dir manually at /gocator_3200/CmakeLists.txt:
SET(GO_SDK_4 <dir>)
git clone git@github.com:Logan-Shi/gocator_interface.git- Indicate, by editing the CMakeLists.txt of this package (line 44), where GoSDK library is placed.
- The build procedure is the ROS-catkin standard.From your ROS workspace:
$ catkin_make- Plug your camera correctly, in terms of power, signal and grounding!
- Properly edit the config/gocator_3200_params.yaml according your configuration and needs. (you can enter 192.168.1.10 for quick param configuration)
- set pc local network with a different static IP, e.g. 192.168.1.100.
- Call the launch file. From the package folder would be
$ roslaunch launch/gocator_3200.launch