ROS driver for Titania stereo camera system from Industrial 3D Robotics.
For an easy setup, a rosinstall file is provided in 'install' folder of this repo which can be used to get this package and it's dependent ros packages in your workspace. In your ROS workspace use the following command:
wstool init src https://raw.githubusercontent.com/i3drobotics/i3dr_titania-ros/main/install/i3dr_titania_https.rosinstall
If you already have a wstool workspace setup then use the following command instead:
wstool merge -t src https://raw.githubusercontent.com/i3drobotics/i3dr_titania-ros/main/install/i3dr_titania_https.rosinstall
wstool update -t src
If you do not use wstool, you can download the packages using the following command:
cd PATH_TO_ROS_WS/src
git clone https://github.com/i3drobotics/i3dr_titania-ros.git
git clone https://github.com/i3drobotics/i3dr_stereo_camera-ros.git
git clone https://github.com/i3drobotics/camera_control_msgs.git
git clone https://github.com/i3drobotics/pylon_camera.git
The pylon_camera package used by this package requires the pylonSDK to be installed on your system. Please download and install the pylon debian package for your architecture from here
Look for 'pylon 6.x.x Camera Software Suite Linux x86 (64 Bit) - Debian Installer Package'
In order to build the package, you need to configure rosdep (i.e. the ROS command-line tool for checking and installing system dependencies for ROS packages) such that it knows how to resolve this dependency. This can be achieved by executing the following commands:
sudo sh -c 'echo "yaml https://raw.githubusercontent.com/i3drobotics/pylon_camera/main/rosdep/pylon_sdk.yaml " > /etc/ros/rosdep/sources.list.d/15-plyon_camera.list'
rosdep update
To install package dependences use rodep:
rosdep install --from-paths src --ignore-src -r -y
Build using catkin (tested with catkin_make and catkin_build):
catkin_make
or
catkin build
Plug in your Titania camera to your machine and use the following launch file to test:
roslaunch i3dr_titania titania.launch
To check everything is working add the paramter 'rviz':
roslaunch i3dr_titania titania.launch rviz:=true