IFM o3m151 device driver

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

Examples

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.

Parameters:

~pcap (string): PCAP dump input file name (default: use real device)
~input/read_once (bool): if true, read input file only once (default false).
~input/read_fast (bool): if true, read input file as fast as possible (default false).
~input/repeat_delay (double): number of seconds to delay before repeating input file (default: 0.0).

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.

Usage

  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")

Examples

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

$ rosrun o3m151_driver vdump pcap- eth0