OPT8241 API ROS

solosito

Hello,

Is there any API for working in ROS with this device? I am having several problems making it work with it. I am a bit lost, could anyone guide me a bit? At least just doing a program in C++ for retrieving the point cloud from the camera.

Thanks.

over 9 years ago

0 Anand Gadiyar over 9 years ago

TI__Genius 15005 points

Could you take a look at the Voxel SDK

github.com/.../voxelsdk
github.com/.../wiki
github.com/.../voxelsdk-examples

0 solosito over 9 years ago in reply to Anand Gadiyar

Prodigy 20 points

Yes, I have already checked it. There is nothing for working in ROS, that's why I asked.

0 Larry Li over 9 years ago in reply to solosito

TI__Expert 3495 points

There is currently nothing on standard ROS stack with TI-TOF sensor, but point cloud data messages are predefined and can be leveraged. ROS implementation for Python is very straight forward. After installing Voxel SDK, Python API to the Voxel SDK should beocme available under (/usr/lib/python2.7/site-packages/). Customer enable Python to find Voxel SDK Python API, and then follow the ROS Python tutorial below:

wiki.ros.org/.../WritingPublisherSubscriber(python)

0 Bob@DEKA over 9 years ago in reply to Larry Li

Prodigy 50 points

I got it working in ROS by referencing the example code "DepthCapture.cpp" in the CDK. I wrote a small program to register a callback to my code to get the pointcloud data from the camera, then feed that into a ROS publisher. I haven't interfaced to the configuration of the camera yet, but I can use the pointcloud in ROS.

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OPT8241 API ROS