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# depthdense_camera_ros
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ROS node to acquire RGB and 3D data from SoftKinetic DepthSense cameras (for instance Creative Senz3d or DS325).
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Based on the ROS node developed by Walter Lucetti aka Myzhar https://github.com/Myzhar/ros_depthsense_camera.

This node fix a problem, that we had, with the integration with ros_pcl. This problem appeared when we
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try to convert PointCloud2 message in pcl PointCloud, our programs raised this error message:
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```
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    Failed to find match for field 'x'.
    Failed to find match for field 'y'.
    Failed to find match for field 'z'.
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```
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## How to Install
First you must install the Depth Sense SDK. If you don't have Depth Sense SDK installed on your machine 
first you must sign up SoftKinetic official web page (http://www.softkinetic.com/), and then you can
download SDK for x86 or x64 machines.
If you have an ARM machine you can get the SDK asking for it in the "Contact Us" section. They don't send
the SDK to e-mail addresses like gmail, yahoo, etc, you must have an institutional address.
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If you have installed the Depth Sense SDK you must follow this steps:
    1. Clone the repository in the src directory of your ROS workspace, for example:
    ```
        cd ~/catkin_ws/src
        git clone https://gitlab.citius.usc.es/david.sanchez/ros_depthsense_camera.git
    ```
    2. From the root directory of your workspace do catkin_make. Following our example:
    ```
        cd..
        catkin_make
    ```
    
## How to run
    1. From the root directory of your workspace do:
    ```
        source devel/setup.bash
    ```
    2. Then execute:
    ```
        rosrun ros_depthsense_camera depthsense_camera_node
    ```
    
## Published Topics
    This node publish the following topics:
        1. /vertex_data is a sensor_msgs/PointCloud2 topic
        2. /rgb_image is a sensor_msgs/Image topic
        
## Published TFs
    This node publish the following TFs:
        1. /depth_frame
        2. /rgb_frame