carnegierobotics / multisense_ros

ROS Wrapper for LibMultiSense
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multisense_ros

Wrappers, drivers, tools and additional API's for using MultiSense S27, S30, KS21, SL, S7, S7S, S21, M, ST21, BCAM with ROS.

Installation, Documentation and Tutorials

See the following for documentation on on installing and using multisense_ros for specific camera types.

Please see the following link for detailed documentation on the LibMultiSense API wrapped by the ROS driver.

Driver Layout

The MultiSense ROS driver contains five ROS packages. The responsibility of each package is outlined below

multisense_bringup

This is the set of launch files and configuration files used to start the ROS driver, as well as configuration scripts and other configuration files.

multisense_cal_check

This package provides software for evaluating the quality of the laser calibration stored in the MultiSense-SL non-volatile memory. Note this package only supports MultiSense SL units.

multisense_description

This package contains the http://ros.org/wiki/urdf robot description XML file and associated meshes that represent the sensor head, sensor placement and kinematic structure of a MultiSense S21 sensor.

multisense_lib

This is the library that implements the wire protocol for communication with the MultiSense S21 sensor.

multisense_ros

This package contains the actual ROS drivers for the MultiSense S21. Individual drivers are included for the Camera and IMU subsystems.

Develop and Contribute

See Contribute page.

Support

To report an issue with this library or request a new feature, please use the GitHub issues system

For product support, please see the support section of our website Individual support requests can be created in our support portal