YDLIDAR OS30A Depth Camera ROS Package

Link to datasheet

This ROS package is designed for interfacing with the Ydlidar OS-30A Depth Camera, providing configuration options and functionality for seamless integration into ROS (Robot Operating System) environments.

Launching the Ydlidar OS-30A Depth Camera

To launch the Ydlidar OS-30A Depth Camera ROS package, execute the following command:

roslaunch bimu_rgbd_camera bimu_camera.launch

Configuration Parameters Explanation

File Variable Explanation

• file_path: Obtains the path of the current package, utilized for opening the .cfg file in the HD-DM-Linux-SDK-5.0.1.16/cfg/DM_Quality_Cfg/ directory.

Mode Selection

• BlockingMode: Selects the Block mode.

Color Image Parameters

• colorFormatNum: Determines the transmission method for color images.
• colorWidthNum: Sets the width of the RGB image.
• colorHeightNum: Sets the height of the RGB image.
• colorActualFpsNum: Retrieves the frame rate of the RGB image.

Depth Image Parameters

• depthWidthNum: Sets the width of the depth map.
• depthHeightNum: Sets the height of the depth map.
• depthActualFpsNum: Determines the transmission method for the depth map.
• depthDataTypeNum: Specifies the data transmission format for depth images.
• buffSizeNum: Sets the number of buffer digits.

Publishing Options

• colorImg: Controls the publishing of RGB messages (0 for not publishing).
• depthImg: Controls the publishing of depth images (0 for not publishing).
• pointCloudImg: Controls the publishing of point cloud messages (0 for not publishing).
• camera_info: Controls the publishing of cameraInfo messages (0 for not publishing).

Exposure and IR Settings

• AE: Selects the exposure mode (3 for automatic exposure, 1 for manual exposure).
• irMaxValue: Sets the maximum number of infrared (IR) values (0~15).
• currentIRValue: Sets the current IR number.

Frame Rate Selection

• frameSelection: Sets the publishing frame rate (1 for 30 frames, 2 for 15 frames).

Device Information

• devInfoPID: PID parameter of the camera.
• devInfoVID: Camera VID parameter.
• devIndex: Camera serial number.

Usage

Ensure that ROS is properly configured and the necessary dependencies are installed. Adjust the configuration parameters as needed in the launch file (bimu_camera.launch) to suit your application requirements.

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