x12901 / gocator_3x00

code to get PointCloud data and Image data from gocator 3100 and 3200 sensor using GpSDK and KAPI.

Overview

This is a repo based on GoSDK4 / GoSDK5 for data Acquisition of Gocator 3X00 series sensor.

Dependencies

The original package has been tested with the following dependencies:

• Ubuntu 14.04
• CMake + gcc
• ROS Indigo
• Point Cloud Library v1.7 (shipped with ROS Indigo)
• GoSDK library Version 4.2(propietary library from manufacturer LMI Technologies)

This package has also been tested with the following dependencies:

• Ubuntu 18.04
• CMake + gcc
• ROS Melodic
• Point Cloud Library v1.8 (seems shipped with Ubuntu18.04)
• GoSDK library Version 5.2(propietary library from manufacturer LMI Technologies)

Build the GoSdk

extract source and put it to path ~.

for GoSdk5.x: extract 14400-5.2.19.71_SOFTWARE_GO_SDK.zip and copy folder GO_SDK, which is inside the extracted folder to path ~/ for GoSdk4.x: extract 14400-4.2.5.17_SOFTWARE_GO_SDK.zip and copy folder GO_SDK, which is inside the extracted folder to path ~/

Switch from different build types.

To switch Build Type between "Debug" and "Release", you need to adjust three files in total.

/home/ziqi/GO_SDK/Platform/kApi/kApi-Linux_X64.mk
/GO_SDK/Gocator/GoSdk/GoSdk-Linux_X64.mk
/GO_SDK/Gocator/GoSdk/GoSdkExample-Linux_X64.mk

find following block in these three files, and change it to "Debug" or "Release", then the generated libs with be generated and put to the corresponding folders.

ifndef config
	config := Release
endif

Note: the CMakeLists.txt is already adjusted so that it can link to LIBS in different folders according to different build types in CMakeLists.txt.

Improvements:

1. This is pure cmake project.

2. This project is tested under ubuntu14.04 and ubuntu18.04, with GoSdk4.2 and GoSdk5.2, under "Debug" and "Release" Build Type.

3. Sometimes, the gocator sensor send back only stamp data, in this case, after call for point cloud data, you can only get empty point cloud, this borther me a lot. Now that I have notice the reason why I got empty data, I add judgment in 'getSingleSnapshot()' to make sure I get not empty point cloud data and I also remove the -inf data, so finally I have got real data. This also helps to fix the same problem in original ros package, otherwise you get empty data after calling ros servise.