# ros-feynman-camera

**Repository Path**: nextvpu/ros-feynman-camera

## Basic Information

- **Project Name**: ros-feynman-camera
- **Description**: ros example code of feynman camera
- **Primary Language**: Unknown
- **License**: Apache-2.0
- **Default Branch**: newprotocol
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 11
- **Forks**: 5
- **Created**: 2021-10-25
- **Last Updated**: 2025-10-14

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# feynman_camera

A ROS driver for Nextvpu 3D cameras.

## Install

This package supports ROS and tested under ROS Noetic(OS:ubuntu 20.04.6 lts)/ROS Kinetic(OS:ubuntu 16.04).

1. Install [ROS](http://wiki.ros.org/ROS/Installation).

2. Install dependences
    ```sh
    sudo apt install libusb-1.0-0-dev libyaml-dev
    ```

3. Create a ROS Workspace
	 ```sh
    mkdir -p ~/catkin_ws/src
    ```	
4. Pull the repository into your ROS workspace  

    clone the repository
    ```sh
    cd ~/catkin_ws/src
    git clone https://gitee.com/nextvpu/ros-feynman-camera -b newprotocol

    cd ~/catkin_ws/src/ros-feynman-camera
    git submodule update --init --recursive
    ```
5. copy feynman udev rules file
    ```sh
    cd ~/catkin_ws/src/ros-feynman-camera
    sudo cp sdk-feynman-camera/nextvpu-usb.rules /etc/udev/rules.d
    ```

6. Go to catkin workspace and compile feynman_camera
    ```sh
    cd ~/catkin_ws
    catkin_make install
    ```

## Run feynman_camera

### Run feynman ROS driver

#### Use feynman fc1c camera
    ```
    source ~/catkin_ws/install/setup.bash

    roslaunch feynman_camera fc1c.launch
    ```

#### Use feynman m1nb camera

    ```
    source ~/catkin_ws/install/setup.bash

    roslaunch feynman_camera m1nb.launch
    ```
#### Plug your camera with usb cable

## Important Topics
(* means serial number of camera)  
* `/feynman_camera/*/depth/image_raw`:depth raw data,sensor_msgs::Image(16bit integer)
* `/feynman_camera/*/depth/image_color`:depth pseudo data,sensor_msgs::Image(rgb888)
* `/feynman_camera/*/leftir/image_rect_color`:depth left data(rectified),sensor_msgs::Image(rgb888)
* `/feynman_camera/*/rightir/image_rect_color`:depth right data(rectified),sensor_msgs::Image(rgb888)
* `/feynman_camera/*/depthcloud`:dot cloud data,sensor_msgs::PointCloud2
* `/feynman_camera/*/rgb/image_rect_color`:rgb sensor data,sensor_msgs::Image(rgb888)

## View in rqt_image_view
### View depth pseudo
```
rqt_image_view /feynman_camera/*/depth/image_color
```

### View rgb sensor color image
```
rqt_image_view /feynman_camera/*/rgb/image_rect_color
```

## License

Copyright 2019 NextVPU Co., Ltd.

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this project except in compliance with the License. You may obtain a copy of the License at

[http://www.apache.org/licenses/LICENSE-2.0](http://www.apache.org/licenses/LICENSE-2.0)

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

*Other names and brands may be claimed as the property of others*