o3m151_driver Documentation


ROS device driver for Ifm O3M151 TOF camera.

ROS device driver for IFM o3m151.

IFM o3m151 device driver

ROS device driver node that captures IFM o3m151 data and publishes it to the sensor_msgs/PointCloud2 topic.


Read the IFM camera input socket as fast as possible. Publish each complete revolution to o3m151_points topic.

$ rosrun o3m151_driver o3m151_node

Read previously captured IFM packets from dump.pcap file. Publish messages to o3m151_points at the sensor rate.

Dump files can be grabbed by libpcap, ethereal, wireshark, tcpdump, or the o3m151_driver vdump command.

$ rosrun o3m151_driver o3m151_node _pcap:=dump.pcap

ROS names

Node name: o3m151_node

Publishes: o3m151_points publish a 3D point cloud of the IFM camera.


Vdump Command

The vdump command dumps raw data from the IFM camera in PCAP format. It is a shell script wrapper with some obscure options for the powerful tcpdump command.

Other methods of acquiring PCAP data include using tcpdump directly, wireshark and programming with libpcap.


  rosrun o3m151_driver vdump <file_prefix> [ <interface> ]

        <file_prefix>   file name to dump (with 3-digit number suffix)
        <interface>     interface to read from (default: "eth1")


Dump IFM packets to a series of files named "pcap-000", "pcap-001", etc. Type ^C when finished.

$ rosrun o3m151_driver vdump pcap- eth0

Author(s): Vincent Rousseau
autogenerated on Mon Jun 10 2019 14:07:55