Parameters

Name	Data Type	Default Value	Description
~/buffer_id_list	string array	{“CONFIDENCE_IMAGE”,”EXTRINSIC_CALIB”,”JPEG_IMAGE” “NORM_AMPLITUDE_IMAGE”,”RADIAL_DISTANCE_IMAGE”,”RGB_INFO”,”XYZ”}	List of buffer_id strings denoting the wanted buffers.
~/ip	string	192.168.0.69	The ip address of the camera.
~/log_level	string	warning	ifm3d-ros2 node logging level.
~/tf.cloud_link.frame_name	string	<node_name>_optical_link	Name for the point cloud frame.
~/tf.cloud_link.publish_transform	bool	true	Whether the transform from the cameras mounting point to the point cloud center should be published.
~/tf.mounting_link.frame_name	string	<node_name>_mounting_link	Name for the mounting point frame.
~/tf.optical_link.frame_name	string	<node_name>_optical_link	Name for the point optical frame.
~/tf.optical_link.publish_transform	bool	true	Whether the transform from the cameras mounting point to the point optical center should be published.
~/tf.optical_link.transform	double array	[0, 0, 0, 0, 0, 0]	Static transform from mounting link to optical link, as [x, y, z, rot_x, rot_y, rot_z]
~/buffer_id_list	string array	{“NORM_AMPLITUDE_IMAGE”, “CONFIDENCE_IMAGE”, JPEG_IMAGE”, “RADIAL_DISTANCE_IMAGE”, “XYZ”, “EXTRINSIC_CALIB”, }	List of buffer_id strings denoting the wanted buffers.
~/diag_mode	string: “async” or “periodic”	“async”	Diagnostic mode: asynchronous monitoring (“async”) or periodic polling (“periodic”).
~/xmlrpc_port	unint	50010	TCP port the on-camera xmlrpc server is listening on

Details on the published transforms

The ifm3d-ros2 node published three transforms: the cloud_link, the mounting_link and the optical_link. 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 cloud frame is defined by the extrinsic parameters set in the JSON configuration of the O3R platform (extrinsicHeadToUser). Generally, the cloud is configured to have for origin the center of the robot coordinate system. When no extrinsic parameter is set, the origin of the point cloud is the back of the camera head. In this case, the cloud link and the mounting link 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. Note that the intrinsic parameters are split into ExtrinsicOpticToUser (rotations and translations of the optical system in the housing) and Intrinsics (specific parameters of the lens, chip, etc). For more details on the calibrations, refer to the calibration documentation.