occam_ros

This repository contains a lightly modified clone of the ROS driver for the Occam Omni 60, and other compatible cameras, originally available here: http://occamvisiongroup.com/indigosdk/

The majority of the changes to this repo have been with the intention of making it easier to build and use on ROS Melodic.

The indigosdk folder contains the original libindigo source from Occam, but with the compilation options changed to produce the less-generic liboccam.so output. The CMake files for the ROS package have similarly been altered to link against liboccam instead of libindigo.

Building & Dependencies

Building the package should be as simple as cloning the repo, installing the dependencies, and building with catkin_make

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin_init_workspace src
cd src
git clone https://github.com/civerachb-cpr/occam_ros.git
rosdep install --from-paths . --ignore-src -r -y
cd ..
catkin_make

It is recommended to copy the debian/udev file to your udev rules to ensure the camera device has the correct permissions.

sudo cp ~/catkin_ws/src/occam_ros/debian/udev /etc/udev/rules.d/60-occam.rules
sudo udevadm control --reload-rules
sudo udevadm trigger

Usage

You can either add the occam_driver_node to an existing launch file, or use the provided one.

roslaunch occam_ros omni_60.launch

A simple URDF macro is included for adding the camera to your existing robot model.

<xacro:include filename="$(find occam_ros)/urdf/omni_60.urdf.xacro" />
<xacro:omni_60 name="omnicam" parent="front_mount">
  <origin xyz="0 0 0" rpy="0 0 0" />
</xacro:omni_60>

Future Work

Right now this driver is a straight copy of the original source code. I've done my best to copy all the available documentation, but it's not much right now.

The to-do list includes:

• add (or document the existing) configuration options
• document all published & subscribed topics
• double-check the order of the 5 cameras and match the URDF to that order
• assign frame IDs to the raw data from each camera