Time-of-Flight Camera

Raspberry Pi tof-rpi

Network Setup

Connects to some WiFi networks automatically (see Ubuntu MATE connection manager). For instance, you could also setup a hotspot for tof-rpi.

An SSH server is installed. So you can ssh <username>@<hostname> to the RPi. Use ssh -A <username>@<hostname> to forward identity, e.g., to work in a git repo with your credentials.

ROS Setup

• Runs Ubuntu MATE 16.04 (Xenial).
• Installed ROS kinetic.
• Installed openssh-server for ROS communication.
• Connect to [Daisy’s network] (via network settings in the desktop environment).
• SSH configuration:
  • Put hosts into /etc/hosts to be able to communicate with daisy and my notebook.
  • Create SSH key.
  • SSH configuration for all devices in the ROS network according to following template:

    # ROS network device
    Host <hostname>
        HostName <hostname>
        User <username>
        PreferredAuthentications publickey,password
        IdentityFile ~/.ssh/id_rsa
    

    ROS connects tof-rpi to hostname via <username>@<hostname> using <rsakey>.

  • Copy IDs (of nodes that will communicate to each other, e.g., only notebook and tof-rpi).
  • Create the executable environment loader script /opt/ros/kinetic/env_pi.bash:

    #!/usr/bin/env bash
    source /home/<username>/catkin_ws/devel/setup.bash
    exec "$@"
    

Applications using ToF Camera

• The monitor of the self-healing package is demonstrated with the ToF camera mounted to Daisy in the SASO 2019 paper.

Repositories using ToF Camera

• Software interface for the camera.
• ROS driver publishing point cloud of the depth to ROS.

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2019-02-27 | Denise Ratasich