mdkennedy3 / elp-synchronized-stereo-camera-ros-pkg

ROS driver for synchronized ELP stereo cameras

elp-synchronized-stereo-camera-ros-pkg

A ROS driver for the ELP Dual Lens synchronized stereo camera.

Documentation

Documentation for original driver (non-synchronized) is available on the ROS wiki: http://wiki.ros.org/elp_stereo_camera

This has been tested on the ELP model: ELP-960P2CAM-V90-VC

Install from Source

These setup instructions assume that you have Ubuntu 16.04, have ROS Kinetic installed, and have a catkin workspace at ~/catkin_ws. If you don't, follow the Installing and Configuring Your ROS Environment tutorial before proceeding. The following specific packages should be installed if they aren't already:

sudo apt-get update
sudo apt-get install ros-kinetic-ros-base ros-kinetic-image-common ros-kinetic-image-transport-plugins ros-kinetic-image-pipeline ros-kinetic-usb-cam

Now you can install the elp_stereo_camera package:

git clone https://github.com/mdkennedy3/elp-synchronized-stereo-camera-ros-pkg  ~/catkin_ws/src/elp_stereo_camera

After compiling the package, then setup the udev rules:

# setup udev rules (navigate to package)
sudo ./scripts/create_udev_rules.sh

How to Run

To simply generate seperate stereo images run the launch file

roslaunch elp_stereo_synchronized_ros_pkg elp_stereo_camera.launch 

(images can easily be viewed using rqt image viewer)

To see disparity run

roslaunch elp_stereo_synchronized_ros_pkg disparity.launch

when visualize_disparity argument is true, a image_view disparity window will appear

To see the point cloud

roslaunch elp_stereo_synchronized_ros_pkg point_cloud_rviz_disparity.launch