composite_node Documentation

composite_node

A node for accessing 3 sensing devices at once: a STOC, a SR4k, and a FLIR thermal camera.

• Homepage: http://ros.org/wiki/composite_node

composite_node is a driver connecting to three different sensors: a Videre Design STOC (Stereo-On-A-Chip), a SwissRanger SRx000, and a FLIR Thermal camera.

---

Information

The driver depends on a list of 3rd party libraries to compile correctly:

• stoc_driver depends on libsvs (Small Vision System - commercial license)
• flir_driver depends on libunicap (GPL)
• swissranger_driver depends on libusbsr (commercial license ?)

---

usage

$ composite_node [standard ROS args]

Example

$ composite_node

---

topic

Subscribes to (name/type):

• None

Publishes to (name / type):

• "cloud_sr"/ PointCloud : Point cloud data from the SwissRanger.
• "cloud_stoc"/ PointCloud : Point cloud data from the STOC.
• "images_sr"/ ImageArray : Distance and intensity camera images from the SwissRanger
• "images_stoc"/ ImageArray : Left, right, and disparity camera images from the STOC.
• "image_flir"/ Image : Thermal camera image from the FLIR.

---

parameters

Reads the following parameters from the parameter server

• "sr_auto_illumination" : [int] the angle of the first range measurement in degrees (Default: -90.0)
• "sr_integration_time" : [int] the angle of the last range measurement in degrees (Default: 90.0)
• "sr_modulation_freq" : [int] the number of adjascent range measurements to cluster into a single reading (Default: 1)
• "sr_amp_threshold" : [int] the number of scans to skip between each measured scan (Default: 1)