User Manual

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2.4.4 Create ROS Depth camera client node and server
Routines are provided in this section. Users can modify or write their own programs as needed.
The procedures for the Depth camera client node and server routines given in this document are:
(1) The client node is configured with the data that the user needs to collect (or configured by the
command sent by the server);
(2) After the client logs in, connect the optional device file. After the connection is successful, send
the client name (custom name) to the server;
(3) After the server receives the message (client name) sent by the Depth camera client, it performs
name judgment, is it a depth camera client, and if so, sends a start command (custom command)
to the client, otherwise it continues to wait for the client connection, sending a message;
(4) When the client receives the command sent by the server, it determines what command is, and
if it is the start command, it starts to collect data and issues a message to the server;
(5) The server receives the message sent by the client node, and can perform further matching,
setting, and etc.
1
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Integrate api.h and .so file to engineering
(1) Copy api.h and lib*.so into the include directory of the package in the workspace, as shown
below:
(2) Copy lib*.so to /usr/local/lib and enter sudo mv include/libhps3d32175.so /usr/local/lib/ in
the terminal of the package directory. After copying, enter sudo ldconfig to load Configuration, as
shown below:
（3）Enter sudo gedit CMakeLists.txt in the terminal of the package directory, configure the
CMakeLists.txt file, and find the following code piece:
Modify it as shown below: