User Manual

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case
SIMPLE_ROI_PACKET:
printf("distance = %d event->RetPacketType = %d\n",
event->MeasureData.simple_roi_data[0].distance_average,event->RetPacketType);
break
;
case
FULL_ROI_PACKET:
msg.distance_average =
event->MeasureData.full_roi_data[0].distance_average;
printf("distance = %d\n",msg.distance_average);
camera_pub.publish(msg);
break
;
case
FULL_DEPTH_PACKET:
printf("distance = %d event->RetPacketType = %d\n",
event->MeasureData.full_depth_data->distance_average,event->RetPacketType);
break
;
case
SIMPLE_DEPTH_PACKET:
printf("distance = %d event->RetPacketType = %d\n",
event->MeasureData.simple_depth_data->distance_average,event->RetPacketType);
break
;
case
NULL_PACKET:
printf("return packet is null!\n");
break
;
default
:
printf("system error!\n");
break
;
}
event->RetPacketType = NULL_PACKET;
}
return
0;
}
4
、
Test ROS Depth camera client node and server
（1）Enter catkin_make in the terminal of the workspace directory, execute the compile link, and
you can see the executable file in the /devel/lib/hps_camera folder, as shown below:
（2）Enter cd /dev in terminal，check device file, enter ll ttyACM* check device file detailed
information, find ttyACM* device，enter sudo chmod 777 ttyACM0，Modify the device file
permissions as shown below:：