The leica_streaming_app ROS package can be used with the Leica Captivate TS Survey Streaming application to publish the position of a tracked prism as a ROS message as well as the corresponding transformation.
Keywords: ROS, Leica total station, localization
To install all packages from the this repository as Debian packages use
sudo apt-get install ros-kinetic-desktop-full
-
Robot Operating System (ROS) (middleware for robotics),
-
[Boost] (boost C++ libraries)
sudo apt-get install libboost-dev
To build from source, clone the latest version from this repository into your catkin workspace and compile the package using
cd catkin_workspace/src
git clone git@github.com:AndreasAZiegler/leica_streaming_app.git
cd ../
catkin build leica_streaming_app
If you are connected to the total station with an Ethernet connection, run the main node with
rosrun leica_streaming_app leica_streaming_app_tcp_node _ip:="<IP address of the total station>" _port:=<port number of the streaming app>
If you are connected to the total station with a serial connection, run the main node with
rosrun leica_streaming_app leica_streaming_app_serial_node _port:=<port number of the streaming app>
Interfaces the streaming app with a tcp connection.
Interfaces the streaming app with a serial connection.
-
/paintcopter/position([nav_msgs/Odometry])The pose from Rovio or Vicon.
-
/leica/start_stop([std_msgs/Bool])Start/stop the streaming of positions.
-
/leica/position([geometry_msgs/PointStamped])The position of the tracked prism.
-
ip(string, default: "10.2.86.55")The IP address of the total station.
-
port(int, default: 5001)The port number of the streaming app.
-
comport(string, default: "/dev/ttyUSB0")The comport to which the total station is connected to.