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
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Robot Operating System (ROS) (middleware for robotics),
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[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 [email protected]: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.
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/paintcopter/position([nav_msgs/Odometry])The pose from Rovio or Vicon.
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/leica/start_stop([std_msgs/Bool])Start/stop the streaming of positions.
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/leica/position([geometry_msgs/PointStamped])The position of the tracked prism.
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ip(string, default: "10.2.86.55")The IP address of the total station.
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port(int, default: 5001)The port number of the streaming app.
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comport(string, default: "/dev/ttyUSB0")The comport to which the total station is connected to.