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Migration Guide from Version 2.0.2 to Version 2.3.4

As Mech-Eye API has been restructured in version 2.2.0, the ROS 2 interface for Mech-Eye Industrial 3D Camera has also been restructured accordingly. This document lists the topics and services that have changed from the previous release of the ROS 2 interface to the latest release. You can modify your program according to this document.

Compatibility

  • Previous release of the ROS 2 interface: compatible with Mech-Eye SDK 2.0.1 and 2.0.2
  • Latest release of the ROS 2 interface: compatible with Mech-Eye SDK 2.3.4

If you would like to use the latest ROS 2 interface for the camera, please install the latest version of Mech-Eye SDK or upgrade Mech-Eye SDK to the latest version.

If you are using Mech-Eye SDK 2.0.2 and below, please install the previous release of the ROS 2 interface (can be found from the Releases page on GitHub.)

Note: No compatible release of ROS 2 interface was made for Mech-Eye SDK 2.1.0 to 2.3.3. If you are using these versions of Mech-Eye SDK and would like to use the ROS 2 interface, please upgrade Mech-Eye SDK to the latest version.

Topics

Depth Map

  • Version 2.0.2: /mechmind/depth_image
  • Version 2.3.4: /mechmind/depth_map

Textured Point Cloud

  • Version 2.0.2: /mechmind/color_point_cloud
  • Version 2.3.4: /mechmind/textured_point_cloud

Services

Data Acquisition

Capture 2D Image

  • Version 2.0.2:

    ros2 service call /capture_color_map mecheye_ros_interface/srv/CaptureColorMap

  • Version 2.3.4:

    ros2 service call /capture_color_image mecheye_ros_interface/srv/CaptureColorImage

Capture Textured Point Cloud

  • Version 2.0.2:

    ros2 service call /capture_color_point_cloud mecheye_ros_interface/srv/CaptureColorPointCloud

  • Version 2.3.4:

    ros2 service call /capture_textured_point_cloud mecheye_ros_interface/srv/CaptureTexturedPointCloud

Adjust Camera Parameters

Get Scan2DExpectedGrayValue

  • Version 2.0.2:

    ros2 service call /get_2d_expected_gray_value mecheye_ros_interface/srv/Get2DExpectedGrayValue

  • Version 2.3.4:

    ros2 service call /get_int_parameter mecheye_ros_interface/srv/GetIntParameter "{name: Scan2DExpectedGrayValue}"

Set Scan2DExpectedGrayValue

  • Version 2.0.2:

    ros2 service call /set_2d_expected_gray_value mecheye_ros_interface/srv/Set2DExpectedGrayValue "{value: 20}"

  • Version 2.3.4:

    ros2 service call /set_int_parameter mecheye_ros_interface/srv/SetIntParameter "{name: Scan2DExpectedGrayValue, value:20}"

Get Scan2DExposureMode

  • Version 2.0.2:

    ros2 service call /get_2d_exposure_mode mecheye_ros_interface/srv/Get2DExposureMode

  • Version 2.3.4:

    ros2 service call /get_enum_parameter mecheye_ros_interface/srv/GetEnumParameter "{name: Scan2DExposureMode}"

Set Scan2DExposureMode

  • Version 2.0.2:

    ros2 service call /set_2d_exposure_mode mecheye_ros_interface/srv/Set2DExposureMode "{value: HDR}"

  • Version 2.3.4:

    ros2 service call /get_enum_parameter mecheye_ros_interface/srv/GetEnumParameter "{name: Scan2DExposureMode, value: HDR}"

Get Scan2DHDRExposureSequence

  • Version 2.0.2:

    ros2 service call /get_2d_exposure_sequence mecheye_ros_interface/srv/Get2DExposureSequence

  • Version 2.3.4:

    ros2 service call /get_float_array_parameter mecheye_ros_interface/srv/GetFloatArrayParameter "{name: Scan2DHDRExposureSequence}"

Set Scan2DHDRExposureSequence

  • Version 2.0.2:

    ros2 service call /set_2d_exposure_sequence mecheye_ros_interface/srv/Set2DExposureSequence "{sequence: [30.0,35.5,40.0]}"

  • Version 2.3.4:

    ros2 service call /set_float_array_parameter mecheye_ros_interface/srv/SetFloatArrayParameter "{name: Scan2DHDRExposureSequence, array: [30.0, 35.5, 40.0]}"

Get Scan2DExposureTime

  • Version 2.0.2:

    ros2 service call /get_2d_exposure_time mecheye_ros_interface/srv/Get2DExposureTime

  • Version 2.3.4:

    ros2 service call /get_float_parameter mecheye_ros_interface/srv/GetFloatParameter "{name: Scan2DExposureTime}"

Set Scan2DExposureTime

  • Version 2.0.2:

    ros2 service call /set_2d_exposure_time mecheye_ros_interface/srv/Set2DExposureTime "{value: 35.5}"

  • Version 2.3.4:

    ros2 service call /set_float_parameter mecheye_ros_interface/srv/SetFloatParameter "{name: Scan2DExposureTime, value: 35.5}"

Get Scan2DROI

  • Version 2.0.2:

    ros2 service call /get_2d_roi mecheye_ros_interface/srv/Get2DROI

  • Version 2.3.4:

    ros2 service call /get_roi_parameter mecheye_ros_interface/srv/GetROIParameter "{name: Scan2DROI}"

Set Scan2DROI

  • Version 2.0.2:

    ros2 service call /set_2d_roi mecheye_ros_interface/srv/Set2DROI "{x: 20, y: 20, width: 600, height: 800}"

  • Version 2.3.4:

    ros2 service call /set_roi_parameter mecheye_ros_interface/srv/SetROIParameter "{name: Scan2DROI, x: 20, y: 20, width: 600, height: 800}"

Get Scan2DSharpenFactor

  • Version 2.0.2:

    ros2 service call /get_2d_sharpen_factor mecheye_ros_interface/srv/Get2DSharpenFactor

  • Version 2.3.4:

    ros2 service call /get_float_parameter mecheye_ros_interface/srv/GetFloatParameter "{name: Scan2DSharpenFactor}"

Set Scan2DSharpenFactor

  • Version 2.0.2:

    ros2 service call /set_2d_sharpen_factor mecheye_ros_interface/srv/Set2DSharpenFactor "{value: 0.5}"

  • Version 2.3.4:

    ros2 service call /set_float_parameter mecheye_ros_interface/srv/SetFloatParameter "{name: Scan2DSharpenFactor, value: 0.5}"

Get Scan2DToneMappingEnable

  • Version 2.0.2:

    ros2 service call /get_2d_tone_mapping mecheye_ros_interface/srv/Get2DToneMappingEnable

  • Version 2.3.4:

    ros2 service call /get_bool_parameter mecheye_ros_interface/srv/GetBoolParameter "{name: Scan2DToneMappingEnable}"

Set Scan2DToneMappingEnable

  • Version 2.0.2:

    ros2 service call /set_2d_tone_mapping mecheye_ros_interface/srv/Set2DToneMappingEnable "{value: True}"

  • Version 2.3.4:

    ros2 service call /set_bool_parameter mecheye_ros_interface/srv/SetBoolParameter "{name: Scan2DToneMappingEnable, value: True}"

Get Scan3DExposureSequence

  • Version 2.0.2:

    ros2 service call /get_3d_exposure mecheye_ros_interface/srv/Get3DExposure

  • Version 2.3.4:

    ros2 service call /get_float_array_parameter mecheye_ros_interface/srv/GetFloatArrayParameter "{name: Scan3DExposureSequence}"

Set Scan3DExposureSequence

  • Version 2.0.2:

    ros2 service call /set_3d_exposure mecheye_ros_interface/srv/Set3DExposure "{sequence: [30.0,35.5,40.0]}"

  • Version 2.3.4:

    ros2 service call /set_float_array_parameter mecheye_ros_interface/srv/SetFloatArrayParameter "{name: Scan3DExposureSequence, array: [30.0, 35.5, 40.0]}"

Get Scan3DGain

  • Version 2.0.2:

    ros2 service call /get_3d_gain mecheye_ros_interface/srv/Get3DGain

  • Version 2.3.4:

    ros2 service call /get_float_parameter mecheye_ros_interface/srv/GetFloatParameter "{name: Scan3DGain}"

Set Scan3DGain

  • Version 2.0.2:

    ros2 service call /set_3d_gain mecheye_ros_interface/srv/Set3DGain "{value: 2.5}"

  • Version 2.3.4:

    ros2 service call /set_float_parameter mecheye_ros_interface/srv/SetFloatParameter "{name: Scan3DGain, value: 2.5}"

Get Scan3DROI

  • Version 2.0.2:

    ros2 service call /get_3d_roi mecheye_ros_interface/srv/Get3DROI

  • Version 2.3.4:

    ros2 service call /get_roi_parameter mecheye_ros_interface/srv/GetROIParameter "{name: Scan3DROI}"

Set Scan3DROI

  • Version 2.0.2:

    ros2 service call /set_3d_roi mecheye_ros_interface/srv/Set3DROI "{x: 20, y: 20, width: 600, height: 800}"

  • Version 2.3.4:

    ros2 service call /set_roi_parameter mecheye_ros_interface/srv/SetROIParameter "{name: Scan3DROI, x: 20, y: 20, width: 600, height: 800}"

Get PointCloudOutlierRemoval

  • Version 2.0.2:

    ros2 service call /get_cloud_outlier_filter_mode mecheye_ros_interface/srv/GetCloudOutlierFilterMode

  • Version 2.3.4:

    ros2 service call /get_enum_parameter mecheye_ros_interface/srv/GetEnumParameter "{name: PointCloudOutlierRemoval}"

Set PointCloudOutlierRemoval

  • Version 2.0.2:

    ros2 service call /set_cloud_outlier_filter_mode mecheye_ros_interface/srv/SetCloudOutlierFilterMode "{value: 'Off'}"

    Note: The Off option must be surrounded by single quotation marks.

  • Version 2.3.4:

    ros2 service call /set_enum_parameter mecheye_ros_interface/srv/SetEnumParameter "{name: PointCloudOutlierRemoval, value: 'Off'}"

    Note: The Off option must be surrounded by single quotation marks.

Get PointCloudSurfaceSmoothing

  • Version 2.0.2:

    ros2 service call /get_cloud_smooth_mode mecheye_ros_interface/srv/GetCloudSmoothMode

  • Version 2.3.4:

    ros2 service call /get_enum_parameter mecheye_ros_interface/srv/GetEnumParameter "{name: PointCloudSurfaceSmoothing}"

Set PointCloudSurfaceSmoothing

  • Version 2.0.2:

    ros2 service call /set_cloud_smooth_mode mecheye_ros_interface/srv/SetCloudSmoothMode "{value: 'Off'}"

    Note: The Off option must be surrounded by single quotation marks.

  • Version 2.3.4:

    ros2 service call /set_enum_parameter mecheye_ros_interface/srv/SetEnumParameter "{name: PointCloudSurfaceSmoothing, value: 'Off'}"

    Note: The Off option must be surrounded by single quotation marks.

Get DepthRange

  • Version 2.0.2:

    ros2 service call /get_depth_range mecheye_ros_interface/srv/GetDepthRange

  • Version 2.3.4:

    ros2 service call /get_range_parameter mecheye_ros_interface/srv/GetRangeParameter "{name: DepthRange}"

Set DepthRange

  • Version 2.0.2:

    ros2 service call /set_depth_range mecheye_ros_interface/srv/SetDepthRange "{lower: 300, upper: 1000}"

  • Version 2.3.4:

    ros2 service call /set_range_parameter mecheye_ros_interface/srv/SetRangeParameter "{name: DepthRange, lower: 300, upper: 1000}"

Get FringeContrastThreshold

  • Version 2.0.2:

    ros2 service call /get_fringe_contrast_threshold mecheye_ros_interface/srv/GetFringeContrastThreshold

  • Version 2.3.4:

    ros2 service call /get_int_parameter mecheye_ros_interface/srv/GetIntParameter "{name: FringeContrastThreshold}"

Set FringeContrastThreshold

  • Version 2.0.2:

    ros2 service call /set_fringe_contrast_threshold mecheye_ros_interface/srv/SetFringeContrastThreshold "{value: 3}"

  • Version 2.3.4:

    ros2 service call /set_int_parameter mecheye_ros_interface/srv/SetIntParameter "{name: FringeContrastThreshold, value: 3}"

Get FringeMinThreshold

  • Version 2.0.2:

    ros2 service call /get_fringe_min_threshold mecheye_ros_interface/srv/GetFringeMinThreshold

  • Version 2.3.4:

    ros2 service call /get_int_parameter mecheye_ros_interface/srv/GetIntParameter "{name: FringeMinThreshold}"

Set FringeMinThreshold

  • Version 2.0.2:

    ros2 service call /set_fringe_min_threshold mecheye_ros_interface/srv/SetFringeMinThreshold "{value: 3}"

  • Version 2.3.4:

    ros2 service call /set_int_parameter mecheye_ros_interface/srv/SetIntParameter "{name: FringeMinThreshold, value: 3}"

Get LaserPowerLevel

  • Version 2.0.2: This service obtains the values of all the parameters in the "Laser" category.

    ros2 service call /get_laser_settings mecheye_ros_interface/srv/GetLaserSettings

  • Version 2.3.4:

    ros2 service call /get_int_parameter mecheye_ros_interface/srv/GetIntParameter "{name: LaserPowerLevel}"

Set LaserPowerLevel

  • Version 2.0.2: This service sets the values of all the parameters in the "Laser" category.

    ros2 service call /set_laser_settings mecheye_ros_interface/srv/SetLaserSettings "{fringe_coding_mode: Fast, frame_range_start: 20, frame_range_end: 80, frame_partition_count: 2, power_level: 60}"

  • Version 2.3.4:

    ros2 service call /set_int_parameter mecheye_ros_interface/srv/SetIntParameter "{name: LaserPowerLevel, value: 60}"

Get LaserFringeCodingMode

  • Version 2.0.2: This service obtains the values of all the parameters in the "Laser" category.

    ros2 service call /get_laser_settings mecheye_ros_interface/srv/GetLaserSettings

  • Version 2.3.4:

    ros2 service call /get_enum_parameter mecheye_ros_interface/srv/GetEnumParameter "{name: LaserFringeCodingMode}"

Set LaserFringeCodingMode

  • Version 2.0.2: This service sets the values of all the parameters in the "Laser" category.

    ros2 service call /set_laser_settings mecheye_ros_interface/srv/SetLaserSettings "{fringe_coding_mode: Fast, frame_range_start: 20, frame_range_end: 80, frame_partition_count: 2, power_level: 60}"

  • Version 2.3.4:

    ros2 service call /set_enum_parameter mecheye_ros_interface/srv/SetEnumParameter "{name: LaserFringeCodingMode, value: Fast}"

Get LaserFrameRange

  • Version 2.0.2: This service obtains the values of all the parameters in the "Laser" category.

    ros2 service call /get_laser_settings mecheye_ros_interface/srv/GetLaserSettings

  • Version 2.3.4:

    ros2 service call /get_range_parameter mecheye_ros_interface/srv/GetRangeParameter "{name: LaserFrameRange}"

Set LaserFrameRange

  • Version 2.0.2: This service sets the values of all the parameters in the "Laser" category.

    ros2 service call /set_laser_settings mecheye_ros_interface/srv/SetLaserSettings "{fringe_coding_mode: Fast, frame_range_start: 20, frame_range_end: 80, frame_partition_count: 2, power_level: 60}"

  • Version 2.3.4:

    ros2 service call /set_range_parameter mecheye_ros_interface/srv/SetRangeParameter "{name: LaserFrameRange, lower: 20, upper: 80}"

Get LaserFramePartitionCount

  • Version 2.0.2: This service obtains the values of all the parameters in the "Laser" category.

    ros2 service call /get_laser_settings mecheye_ros_interface/srv/GetLaserSettings

  • Version 2.3.4:

    ros2 service call /get_int_parameter mecheye_ros_interface/srv/GetIntParameter "{name: LaserFramePartitionCount}"

Set LaserFramePartitionCount

  • Version 2.0.2: This service sets the values of all the parameters in the "Laser" category.

    ros2 service call /set_laser_settings mecheye_ros_interface/srv/SetLaserSettings "{fringe_coding_mode: Fast, frame_range_start: 20, frame_range_end: 80, frame_partition_count: 2, power_level: 60}"

  • Version 2.3.4:

    ros2 service call /set_int_parameter mecheye_ros_interface/srv/SetIntParameter "{name: LaserFramePartitionCount, value: 2}"

Get AntiFlickerMode

  • Version 2.0.2:

    ros2 service call /get_projector_anti_flicker_mode mecheye_ros_interface/srv/GetProjectorAntiFlickerMode

  • Version 2.3.4:

    ros2 service call /get_enum_parameter mecheye_ros_interface/srv/GetEnumParameter "{name: AntiFlickerMode}"

Set AntiFlickerMode

  • Version 2.0.2:

    ros2 service call /set_projector_anti_flicker_mode mecheye_ros_interface/srv/SetProjectorAntiFlickerMode "{value: 'Off'}"

    Note: The Off option must be surrounded by single quotation marks.

  • Version 2.3.4:

    ros2 service call /set_enum_parameter mecheye_ros_interface/srv/SetEnumParameter "{name: AntiFlickerMode, value: 'Off'}"

    Note: The Off option must be surrounded by single quotation marks.

Get ProjectorFringeCodingMode

  • Version 2.0.2:

    • Models other than UHP:

      ros2 service call /get_projector_fringe_coding_mode mecheye_ros_interface/srv/GetProjectorFringeCodingMode

    • UHP:

      ros2 service call /get_uhp_fringe_coding_mode mecheye_ros_interface/srv/GetUhpFringeCodingMode

  • Version 2.3.4:

    ros2 service call /get_enum_parameter mecheye_ros_interface/srv/GetEnumParameter "{name: ProjectorFringeCodingMode}"

Set ProjectorFringeCodingMode

  • Version 2.0.2:

    • Models other than UHP:

      ros2 service call /set_projector_fringe_coding_mode mecheye_ros_interface/srv/SetProjectorFringeCodingMode "{value: Accurate}"

    • UHP:

      ros2 service call /set_uhp_fringe_coding_mode mecheye_ros_interface/srv/SetUhpFringeCodingMode "{value: Accurate}"

  • Version 2.3.4:

    ros2 service call /set_enum_parameter mecheye_ros_interface/srv/SetEnumParameter "{name: ProjectorFringeCodingMode, value: Accurate}"

Get ProjectorPowerLevel

  • Version 2.0.2:

    ros2 service call /get_projector_power_level mecheye_ros_interface/srv/GetProjectorPowerLevel

  • Version 2.3.4:

    ros2 service call /get_enum_parameter mecheye_ros_interface/srv/GetEnumParameter "{name: ProjectorPowerLevel}"

Set ProjectorPowerLevel

  • Version 2.0.2:

    ros2 service call /set_projector_power_level mecheye_ros_interface/srv/SetProjectorPowerLevel "{value: High}"

  • Version 2.3.4:

    ros2 service call /set_enum_parameter mecheye_ros_interface/srv/SetEnumParameter "{name: ProjectorPowerLevel, value: High}"

Get UhpCaptureMode

  • Version 2.0.2:

    ros2 service call /get_uhp_capture_mode mecheye_ros_interface/srv/GetUhpCaptureMode

  • Version 2.3.4:

    ros2 service call /get_enum_parameter mecheye_ros_interface/srv/GetEnumParameter "{name: UhpCaptureMode}"

Set UhpCaptureMode

  • Version 2.0.2:

    ros2 service call /set_uhp_capture_mode mecheye_ros_interface/srv/SetUhpCaptureMode "{capture_mode: Merge}"

  • Version 2.3.4:

    ros2 service call /set_enum_parameter mecheye_ros_interface/srv/SetEnumParameter "{name: UhpCaptureMode, value: Merge}"