Parameters

Name	Data Type	Default Value	Description
~/buffer_id_list	string array	{"CONFIDENCE_IMAGE", "EXTRINSIC_CALIB", "NORM_AMPLITUDE_IMAGE", "RADIAL_DISTANCE_IMAGE", "TOF_INFO", "XYZ"} for the TOF cameras and {"JPEG_IMAGE", "RGB_INFO"} for the RGB cameras.	List of buffer_id strings denoting the wanted buffers.
~/config_file	string	""	Path to a JSON configuration file to be used when configuring the node.
~/ip	string	192.168.0.69	The ip address of the camera.
~/log_level	string	warning	ifm3d-ros2 node logging level.
~/pcic_port	int	50010	PCIC port corresponding to the targeted camera port.
~/tf.base_frame_name	string	ifm_base_link	Name for ifm reference frame.
~/tf.mounting_frame_name	string	<node_name>_mounting_link	Name for the mounting point frame.
~/tf.optical_frame_name	string	<node_name>_optical_link	Name for the optical frame.
~/tf.publish_base_to_mounting	bool	true	Whether the transform from the ifm base link to the camera mounting point should be published.
~/tf.publish_mounting_to_optical	bool	true	Whether the transform from the cameras mounting point to the optical center should be published.
~/xmlrpc_port	uint	50010	TCP port the on-camera xmlrpc server is listening on.

Details on the published transforms

The ifm3d-ros2 node can publish two transforms:

• one from the ifm_base_link to the mounting_link, according to the camera calibration (either via JSON or via the ifm Vision Assistant GUI),

• and one from the mounting_link the optical_link, according to the manufacturing parameters.

The publication of these transform can be deactivated via parameter. The names for all three links can be changed via node parameters.

To clarify which frame each of these transform refers to, consider the drawings below:

The reference of the mounting frame is at the back of the O3R camera head housing (scale drawings can be found on ifm.com in the download section of the specific article). The reference for the ifm base frame is defined by the extrinsic parameters set in the JSON configuration of the O3R platform (extrinsicHeadToUser). Generally, the ifm base frame is configured to have for origin the center of the robot coordinate system, but this is not required. When no extrinsic parameter is set, the ifm base frame and the mounting frame are the same.

The optical frame refers to the reference point of the optical system (lens, chip, etc). A static transform is published between the mounting link and the optical link, that corresponds to the intrinsic calibration parameters of the camera. Each set of intrinsic parameters is unique to a specific camera head and set in production. These parameters are not expected to change over time.