From 0a8ccdf5bf6eb5886add25140228e819a0133389 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A0ndez=20Juan?= <shernand@iri.upc.edu>
Date: Wed, 11 Feb 2015 11:09:01 +0000
Subject: [PATCH] Changes to enable the use of nodelets. Added a new launch
file with the same node configuration of the firewire_nodelet.launch file but
without nodelets.
---
firewire_nodelet_plugin.xml | 4 +-
include/camera_common.h | 8 ++++
launch/firewire.launch | 65 ++++++++++++++++++++++++++
launch/firewire_nodelet.launch | 4 +-
package.xml | 1 +
src/firewire_camera_driver_nodelet.cpp | 2 +-
6 files changed, 79 insertions(+), 5 deletions(-)
create mode 100755 launch/firewire.launch
diff --git a/firewire_nodelet_plugin.xml b/firewire_nodelet_plugin.xml
index 78eb24b..90cb46e 100755
--- a/firewire_nodelet_plugin.xml
+++ b/firewire_nodelet_plugin.xml
@@ -1,5 +1,5 @@
-<library path="lib/libfirewire_camera_driver_nodelet">
- <class name="iri_firewire_camera/iri_firewire_nodelet" type="FirewireCameraNodelet" base_class_type="nodelet::Nodelet">
+<library path="lib/libiri_firewire_camera_nodelet">
+ <class name="iri_firewire_camera/FirewireCameraNodelet" type="FirewireCameraNodelet" base_class_type="nodelet::Nodelet">
<description>
Nodelete for the iri firewire camera module
</description>
diff --git a/include/camera_common.h b/include/camera_common.h
index aa0e6c1..39264b0 100755
--- a/include/camera_common.h
+++ b/include/camera_common.h
@@ -27,4 +27,12 @@ typedef struct
sensor_msgs::CameraInfo CameraInfo_msg_;
}TROSCamera;
+typedef struct
+{
+ image_transport::ImageTransport *it;
+ image_transport::CameraPublisher camera_image_publisher_;
+ sensor_msgs::ImagePtr Image_msg_;
+ sensor_msgs::CameraInfoPtr CameraInfo_msg_;
+}TROSCameraPtr;
+
#endif
diff --git a/launch/firewire.launch b/launch/firewire.launch
new file mode 100755
index 0000000..9490be3
--- /dev/null
+++ b/launch/firewire.launch
@@ -0,0 +1,65 @@
+<launch>
+
+ <!-- bumblebee -->
+ <!-- published topics: /sensors/head_right/image_raw -->
+ <!-- subscribed topics: -->
+ <!-- service clients: -->
+ <!-- service servers: -->
+ <!-- action clients: -->
+ <!-- action servers: -->
+ <node pkg ="iri_firewire_camera"
+ type="iri_firewire_camera"
+ name="bumblebee">
+ <remap from="/bumblebee/camera_image"
+ to="/sensors/head_right/image_raw"/>
+ <param name="Camera_node" value="0" />
+ <param name="frame_id" value="bumblebee_right" type="string" />
+ <!-- set calibration file -->
+ <param name="cal_file" value="file://$(find iri_firewire_camera)/calibration/$(env ROBOT)_right_camera.yaml" type="string" />
+ <param name="ISO_speed" value="400" />
+ <param name="Framerate" value="7.5" />
+ <param name="Color_coding" value="3" />
+ <param name="Image_width" value="1024" />
+ <param name="Image_height" value="768" />
+ <param name="~tf_prefix" value="/$(env ROBOT)" type="str"/>
+ </node>
+
+ <!-- published topics: /processed_image -->
+ <!-- subscribed topics: /sensors/head_right/image_raw -->
+ <!-- /sensors/head_right/camera_info -->
+ <!-- service clients: -->
+ <!-- service servers: -->
+ <!-- action clients: -->
+ <!-- action servers: -->
+ <!-- image crop -->
+ <node pkg ="nodelet"
+ type="nodelet"
+ name="image_proc_dec"
+ args="standalone image_proc/crop_decimate">
+ <param name="decimation_x" value="2" />
+ <param name="decimation_y" value="2" />
+ <remap from="/camera/image_raw"
+ to="/sensors/head_right/image_raw"/>
+ <remap from="/camera/camera_info"
+ to="/sensors/head_right/camera_info"/>
+ </node>
+
+ <!-- image rectification -->
+ <node pkg ="image_proc"
+ type="image_proc"
+ name="image_proc_rect">
+ <remap from="/image_raw"
+ to="/camera_out/image_raw" />
+ <remap from="/camera_info"
+ to="/camera_out/camera_info" />
+ <remap from="/image_rect_color"
+ to="/processed_image" />
+ </node>
+
+ <node pkg="image_view"
+ type="image_view"
+ name="image_view" >
+ <remap from="/image" to="/processed_image"/>
+ </node>
+
+</launch>
diff --git a/launch/firewire_nodelet.launch b/launch/firewire_nodelet.launch
index 94dc81c..96d17b4 100755
--- a/launch/firewire_nodelet.launch
+++ b/launch/firewire_nodelet.launch
@@ -2,7 +2,7 @@
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen">
<param name="Camera_node" value="0" />
<param name="frame_id" value="bumblebee_frame" type="string" />
- <param name="cal_file" value="file://$(find iri_firewire_camera)/calibration/bumblebee_right.yml" type="string" />
+ <param name="cal_file" value="file://$(find iri_firewire_camera)/calibration/$(env ROBOT)_right_camera.yaml" type="string" />
<param name="ISO_speed" value="400" />
<param name="Framerate" value="7.5" />
<param name="Color_coding" value="3" />
@@ -22,7 +22,7 @@
</node>
<!-- firewire camera driver -->
- <node pkg="nodelet" type="nodelet" name="iri_firewire_nodelet" args="load iri_firewire_camera/iri_firewire_nodelet standalone_nodelet" output="screen">
+ <node pkg="nodelet" type="nodelet" name="iri_firewire_nodelet" args="load iri_firewire_camera/FirewireCameraNodelet standalone_nodelet" output="screen">
</node>
<!-- image decimation -->
diff --git a/package.xml b/package.xml
index c82d03d..99c4384 100644
--- a/package.xml
+++ b/package.xml
@@ -61,5 +61,6 @@
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
+ <nodelet plugin="${prefix}/firewire_nodelet_plugin.xml" />
</export>
</package>
diff --git a/src/firewire_camera_driver_nodelet.cpp b/src/firewire_camera_driver_nodelet.cpp
index f031363..1e0adac 100755
--- a/src/firewire_camera_driver_nodelet.cpp
+++ b/src/firewire_camera_driver_nodelet.cpp
@@ -237,5 +237,5 @@ FirewireCameraNodelet::~FirewireCameraNodelet()
}
// parameters are: package, class name, class type, base class type
-PLUGINLIB_DECLARE_CLASS(iri_firewire_camera, iri_firewire_nodelet, FirewireCameraNodelet, nodelet::Nodelet);
+PLUGINLIB_DECLARE_CLASS(iri_firewire_camera, FirewireCameraNodelet, FirewireCameraNodelet, nodelet::Nodelet);
--
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