This is the development for the ros2 driver of Photoneo Phoxi 3D scanner
(refer to its ROS1 driver https://github.com/photoneo/phoxi_camera)
- ROS2 (here we used Humble under Ubuntu 22.04)
- PhoXiControl version 1.10.x driver software which you can download on Photoneo website: https://www.photoneo.com/downloads/phoxi-control/ (* contact [email protected] for testing the release candidate)
- Download latest PhoXi Control according to your ubuntu version
- Add rights to execute downloaded file
sudo chmod +x PhotoneoPhoXiControlInstaller-xxxxx.run
- Install downloaded file
sudo ./PhotoneoPhoXiControlInstaller-xxxxx.run
- Clone phoxi_camera_ros2 repository to your ROS2 workspace (usually ros2_ws/src)
cd ros2_ws/src
git clone https://github.com/zyadan/phoxi_camera_ros2
- Change working directory to your root ROS workspace folder (usually ros2_ws)
cd ros2_ws
- Install all dependencies needed by phoxi_camera package
rosdep install --from-paths src --ignore-src -r -y
- Build the packages
colcon build
- Copy libPhoXi_API_gcc11.3.0_Release.so.1.10.0 to ros2_ws/install/phoxi_camera/lib folder (need to be fixed in next stage)
cd ros2_ws
cp /opt/Photoneo/PhoXiControl-1.10.0/API/lib/libPhoXi_API_gcc11.3.0_Release.so.1.10.0 ./install/phoxi_camera/lib/
~/scanner_id_ - Default PhoXi 3D Scannet to connect after startup. Default value: "2019-07-005-LC3"
~/frame_id: - Frame id to which captured data relies to. Default value: "PhoXi3Dscanner_sensor"
~/latch_topics_ - Default value: false
~/topic_queue_size_ - Default value: 1
~/init_from_config_ - Default value: false # if true all following parameters will be initialized from this config otherwise from
PhoXi control application.
~/organized_cloud_ - Default value: false # if true organized point cloud will be published, other otherwise unorganized
~/log_level - Default value: info # debug log level [DEBUG|INFO|WARN|ERROR|FATAL]
~/config_file - Default value: # yaml config file
~/start_acquisition_ - Default value: false
~/stop_acquisition_ - Default value: false
~/resolution_ - Default value: 1
~/scan_multiplier_ - Default value: 1
~/confidence_ - Default value: 3.0
~/send_confidence_map_ - Default value: true
~/send_depth_map_ - Default value: true
~/send_normal_map_ - Default value: true
~/send_point_cloud_ - Default value: true
~/send_texture_ - Default value: true
~/shutter_multiplier_ - Default value: 1
~/timeout_ - Default value: -3
~/trigger_mode_ - Default value: 1
~/coordinate_space_ - Default value: 1
~/ambient_light_suppression_ - Default value: false'
~/single_pattern_exposure_ - Default value: 2
~/camera_only_mode_ - Default value: false
~/phoxi_camera/V2/is_acquiring
~/phoxi_camera/V2/is_connected
~/phoxi_camera/V2/start_acquisition
~/phoxi_camera/V2/stop_acquisition
~/phoxi_camera/V2/set_transformation
~/phoxi_camera/V2/set_coordinate_space
~/phoxi_camera/V2/save_last_frame
~/phoxi_camera/connect_camera
~/phoxi_camera/disconnect_camera
~/phoxi_camera/get_device_list
~/phoxi_camera/get_frame
~/phoxi_camera/get_hardware_indentification
~/phoxi_camera/get_supported_capturing_modes
~/phoxi_camera/is_acquiring
~/phoxi_camera/is_connected
~/phoxi_camera/save_frame
~/phoxi_camera/set_parameters
~/phoxi_camera/start_acquisition
~/phoxi_camera/stop_acquisition
~/phoxi_camera/trigger_image
~/phoxi_camera_node/describe_parameters
~/phoxi_camera_node/get_parameter_types
~/phoxi_camera_node/get_parameters
~/phoxi_camera_node/list_parameters
~/phoxi_camera_node/set_parameters
~/phoxi_camera_node/set_parameters_atomically
~/phoxi_camera/confidence_map
~/phoxi_camera/depth_map
~/phoxi_camera/normal_map
~/phoxi_camera/points
~/phoxi_camera/rgb_texture
~/phoxi_camera/texture
-
Start PhoXiControl application
-
Run Interface node
ros2 run phoxi_camera phoxi_camera_node
# or run with launch file
ros2 launch phoxi_camera phoxi_camera_launch.py
- Use available ROS2 services to control your 3D scanner
