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ensenso

Build Status

ROS package developed by CRI Group, Nanyang Technological University, Singapore. This package acts as a ROS driver for ensenso 3D cameras.

Our setup

  • Ensenso camera N35 (Ethernet version) (Tested with N35-802-16-BL and N35-804-16-BL models)
  • ROS Kinetic (Ubuntu 16.04, 64 bits)

Maintainer

Documentation

  • See the installation instructions below.
  • Throughout the various files in this repository.

Installation

Requirements

Run ./scripts/install_driver.sh to install the necessary proprietary software.

As an alternative, manually download and install from here:

  • Wibu CodeMeter runtime (Tested version: 6.40.2402)
  • EnsensoSDK (Tested version: 2.0.146)
  • uEye Driver (Tested version: 4.81.1)

ROS Package installation

Go to your ROS working directory:

cd ~/catkin_ws/src

Clone this repository:

git clone https://github.com/crigroup/ensenso.git

Install any missing dependencies using rosdep:

rosdep update
rosdep install --from-paths . --ignore-src -y

Now compile your ROS workspace:

cd ~/catkin_ws && catkin_make

Testing the Installation

Be sure to always source the appropriate ROS setup file, e.g:

source ~/catkin_ws/devel/setup.bash

You might want to add that line to your ~/.bashrc

Try the following command (Be patient, the ensenso camera takes around 10 seconds to start):

roslaunch ensenso viewer.launch

Troubleshooting

Cannot connect to the camera

Look for errors using the ueye camera manager:

ueyecameramanager

Try restarting the ueye daemon

sudo /etc/init.d/ueyeethdrc restart

In case this doesn't work, try a forced stop before restarting:

sudo /etc/init.d/ueyeethdrc force-stop

Camera IP

You can change the camera IP using the ueyesetip command.