NSL-3130AA ROS2
--- NSL-3130AA ROS2 demo ---
- Build env
- Ubuntu22.04.1 LTS
- ROS2 Humble
- OPENCV 4.5.4
- Build NSL-3130AA demo
$ cd NSL3130_driver
$ colcon build --packages-select roboscan_nsl3130
$ . install/setup.bash
- Start commands
$ ros2 run roboscan_nsl3130 roboscan_publish_node
$ ros2 launch roboscan_nsl3130 camera.Launch.py
NSL-3130AA View
Rollover Avoidance and Correction
Average FPS per Image type
Set parameters
$ rqt
(reconfigure)
cvShow : Image Viewer on/off
channel : 0 ~ 15
hdr_mode 0 : HDR off
hdr_mode 1 : Spatial HDR
hdr_mode 2 : Temperal HDR
imageType 0 : Grayscale
imageType 1 : Distance
imageType 2 : Distance / Amplitude
imageType 3 : DCS
imageType 4 : Distance / Grayscale
imageType 5 : Distance / Amplitude / Grayscale
int0 , int2, int3 = 0 ~ 2500(VCSEL), 0 ~ 4000(LED)
intGr = 0 ~ 2500(VCSEL), 0 ~ 4000(LED)
modIndex 0 : 24MHz
modIndex 1 : 12MHz
modIndex 2 : 6MHz
modIndex 3 : 3MHz
transformAngle : angle (rviz-based y-axis rotation)