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ace_USB3

A ROS Driver for Basler Ace USB 3.0 Camera using Pleora SDK

image

Supported hardware

This driver should work at least with a Basler USB 3.0 Ace Area-scan camera ARM Version. It has been tested on Tegra TK1 and Odroid.

ROS API

ros_pleora

ros_pleora is a driver for a Basler Ace USB 3.0 camera.

Published topics

~image_raw (sensor_msgs/Image)
The unprocessed image data.

Installing Pleora eBUS SDK

You can find the latest version of Pleora eBus SDK from here. eBus SDK 4.0.7 is in the install folder of this driver.

To install, run the following command:

cd install
sudo sh setup-usb.sh
sudo ./eBUS_SDK_X.X.X.X_armhf-X.run
# accept all default options
sudo /opt/pleora/ebus_sdk/linux-gnueabihf-arm/bin/install_daemon.sh 
source /opt/pleora/ebus_sdk/linux-gnueabihf-arm/bin/set_puregev_env

If you are using ubuntu 14.04, you need to install libudev-dev and link it into /usr/lib, since eBUS SDK links to that version by default.

sudo apt-get install libudev-dev
cd /usr/lib
sudo ln -s arm-linux-gnueabihf/libudev.so libudev.so.1

Go to /opt/pleora/ebus_sdk/linux-gnueabihf-arm/share/samples and test using PvDeviceFinder. If it, works, The driver will work.

Adding source /opt/pleora/ebus_sdk/linux-gnueabihf-arm/bin/set_puregev_env to .bashrc is advised.

This will install the eBUS SDK to /opt/pleora.

Running the node

Running the node is easy. Just do and select teh camera from the list

roscore &
rosrun ace_pleora_wrapper ros_pleora

Launch file can also be used but add --screen flag to get camera select prints

roslaunch ace_pleora_wrapper node.launch

##Additional Features A test code using only OpenCV to test camera grabbing and displaying with OpenCV is added in the test folder.