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Driver for SoftKinetic DS325 / DS311

asked 2014-01-07 23:43:57 -0600

gvdhoorn gravatar image

updated 2014-06-10 09:16:06 -0600

I'm wondering if anyone knows of a ROS driver for the SoftKinetic DS325 or DS311 3D sensors?

They do have Linux support (basic driver only), so I'm just trying make sure I don't start working on something that already exists.


Edit (2014-06-10): it would seem a driver is available in the ipa320/softkinetic Github repository now. I haven't used it myself, but it seems to be at least publishing sensor_msgs::Image and sensor_msgs::PointCloud2 messages.

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answered 2014-01-22 19:01:23 -0600

ndepalma gravatar image

updated 2014-01-22 19:04:02 -0600

We hacked together a version since there wasn't one. it's pretty alpha but if you want it, you're totally welcome to the code (msg me). It'll deliver the depth, color, and confidence maps.

It'd be nice to extend it to handle dynamic configure and all the fancy stuff that goes along with it. I suspect since you posted this on Jan 8 that you have as much as I do and maybe are already farther along with a more robust driver. Let me know if you release something!

EDIT: there is no msg system but we can find a way to exchange email addresses if need be I'm sure

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I never got round to making an actual driver for the device. I do have some experience with it now though, so we could try to collaborate. Getting a proper camera driver going would be very nice indeed.

gvdhoorn gravatar imagegvdhoorn ( 2014-01-23 02:25:44 -0600 )edit
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answered 2014-03-13 06:59:20 -0600

updated 2014-03-13 07:03:02 -0600

Hi, I'm desperately trying to get some sort of driver support for the DS325 for the linux ARM, but Soft kinetic are unable to support this easily. I would appreciate any information / alpha versions that you have. Would be willing to share back any info etc. It's for a university research robotics (satallite) project in the UK......

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Unfortunately, AFAIK all our efforts make use of the drivers provided by SoftKinetic: they are merely wrappers that make the data from the driver available to a ROS node graph. As there don't seem to be any ARM drivers for the sensors in the first place, using our work wouldn't help you.

gvdhoorn gravatar imagegvdhoorn ( 2014-03-15 01:08:45 -0600 )edit

Hi gvdhoorn, I was curious what your status was on this and whether or not you'd like any help. I'd be happy to help build a more robust open source driver with you if you would like some remote assistance :-)

ndepalma gravatar imagendepalma ( 2014-05-02 06:06:59 -0600 )edit

Hi ndepalma Just to let you know, I'm currently investigating a open source driver for the DS325 as we need a version to work with ARM architecture. When your talk about helping with building a driver, is that a ROS driver to link to the softkinetic driver, or the usb driver itself?

rd00146 gravatar imagerd00146 ( 2014-05-02 06:35:55 -0600 )edit

@ndepalma: I haven't actually had time to work on anything. We do still use the camera in a project though, so it is still on the todo list. Contact me off-list, we can perhaps coordinate something.

gvdhoorn gravatar imagegvdhoorn ( 2014-05-06 02:53:15 -0600 )edit

@gvdhoorn: The project I think you are referring to uses a wrapper around the DS driver to supply ready to use opencv matrices. It is nothing fancy, it basically copies the data from a DS struct to a cv::Mat and retrieves it upon request, but it is working fine.

Hansg91 gravatar imageHansg91 ( 2014-06-10 08:40:17 -0600 )edit

@Hansg91: afaict it looks like the ipa driver is publishing sensor_msgs::Image and sensor_msgs::PointCloud2 msgs, which I would consider to be a minimum for any driver of a rgbd sensor. Am I misunderstanding you?

gvdhoorn gravatar imagegvdhoorn ( 2014-06-10 09:14:22 -0600 )edit

@gvdhoorn: I am referring to the driver that was created for the Yucca project. It is not so much a ROS driver however. It is more an opencv driver, since we chose to not publish the RGB/Depth and instead have one process control all use of the camera. A ROS adaption should then be very easy.

Hansg91 gravatar imageHansg91 ( 2014-06-10 11:42:39 -0600 )edit

Maybe I should've mentioned we are colleagues ;)

Hansg91 gravatar imageHansg91 ( 2014-06-10 11:44:54 -0600 )edit

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Asked: 2014-01-07 23:43:57 -0600

Seen: 1,982 times

Last updated: Jun 10 '14