An updated version of the MultiSense ROS driver for the CRL MultiSense line of products is now available here:
https://github.com/carnegierobotics/multisense_ros
Changes Include
- Updated LibMultiSense to build under C++11
- Added URDF for MultiSense S7 and MultiSense S7S
- Added support for the MultiSense ST21 thermal stereo unit
- Added organized point cloud publishing for luma and color point clouds
- Changed the pointcloud intensity/color type to FLOAT32 for PCL compatibility
- Changed default color image encoding to BGR8
- Added spindle joint publishing via a joint_states message and the robot_state_publisher
- Updated multisense_cal_check bagfile parser
- Added launch file sensor parameter to load different URDFs on startup
- Published camera_info topics for all images
- Added default laser transform publishing to keep the TF tree valid
More information about these changes can be found in the ROS driver documentation located here:
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