Commit 1b6e36f4 authored by Sergi Hernandez's avatar Sergi Hernandez
Browse files

Merge branch 'kinetic_migration' into 'master'

Kinetic migration

See merge request !1
parents f329f92b 7800f12a
cmake_minimum_required(VERSION 2.8.3)
project(iri_firewire_camera)
project(iri_firewire_camera_driver)
## Find catkin macros and libraries
find_package(catkin REQUIRED)
......@@ -16,18 +16,18 @@ find_package(catkin REQUIRED COMPONENTS sensor_msgs image_transport camera_info_
# ********************************************************************
# find_package(<dependency> REQUIRED)
FIND_PACKAGE(iriutils REQUIRED)
FIND_PACKAGE(firewire REQUIRED)
FIND_PACKAGE(firewire_camera REQUIRED)
FIND_LIBRARY(raw1394_LIBRARY
FIND_LIBRARY(raw1394_LIBRARIES
NAMES raw1394
PATHS /usr/lib /usr/local/lib)
FIND_LIBRARY(dc1394_LIBRARY
FIND_LIBRARY(dc1394_LIBRARIES
NAMES dc1394
PATHS /usr/lib /usr/local/lib)
IF (raw1394_INCLUDE_DIR AND raw1394_LIBRARY AND dc1394_INCLUDE_DIR AND dc1394_LIBRARY)
SET(firewire_ready TRUE)
ENDIF (raw1394_INCLUDE_DIR AND raw1394_LIBRARY AND dc1394_INCLUDE_DIR AND dc1394_LIBRARY)
IF (raw1394_INCLUDE_DIRS AND raw1394_LIBRARIES AND dc1394_INCLUDE_DIRS AND dc1394_LIBRARIES)
SET(firewire_camera_ready TRUE)
ENDIF (raw1394_INCLUDE_DIRS AND raw1394_LIBRARIES AND dc1394_INCLUDE_DIRS AND dc1394_LIBRARIES)
# ********************************************************************
# Add topic, service and action definition here
......@@ -62,7 +62,7 @@ ENDIF (raw1394_INCLUDE_DIR AND raw1394_LIBRARY AND dc1394_INCLUDE_DIR AND dc1394
# ********************************************************************
# Add the dynamic reconfigure file
# ********************************************************************
generate_dynamic_reconfigure_options(cfg/FirewireCamera.cfg)
generate_dynamic_reconfigure_options(cfg/FirewireCameraDriver.cfg)
# ********************************************************************
# Add run time dependencies here
......@@ -90,9 +90,9 @@ catkin_package(
include_directories(include)
include_directories(${catkin_INCLUDE_DIRS})
include_directories(${iriutils_INCLUDE_DIR})
include_directories(${firewire_INCLUDE_DIR})
include_directories(${raw1394_INCLUDE_DIR})
include_directories(${dc1394_INCLUDE_DIR})
include_directories(${firewire_camera_INCLUDE_DIR})
include_directories(${raw1394_INCLUDE_DIRS})
include_directories(${dc1394_INCLUDE_DIRS})
## Declare a cpp library
add_library(${PROJECT_NAME}_nodelet src/firewire_camera_driver_node.cpp src/firewire_camera_driver.cpp)
......@@ -105,24 +105,26 @@ add_executable(${PROJECT_NAME} src/firewire_camera_driver.cpp src/firewire_camer
# Add the libraries
# ********************************************************************
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
target_link_libraries(${PROJECT_NAME} ${iriutils_LIBRARY})
target_link_libraries(${PROJECT_NAME} ${firewire_LIBRARY})
target_link_libraries(${PROJECT_NAME} ${raw1394_LIBRARY})
target_link_libraries(${PROJECT_NAME} ${dc1394_LIBRARY})
target_link_libraries(${PROJECT_NAME} ${iriutils_LIBRARIES})
target_link_libraries(${PROJECT_NAME} ${firewire_camera_LIBRARIES})
target_link_libraries(${PROJECT_NAME} ${raw1394_LIBRARIES})
target_link_libraries(${PROJECT_NAME} ${dc1394_LIBRARIES})
target_link_libraries(${PROJECT_NAME}_nodelet ${catkin_LIBRARIES})
target_link_libraries(${PROJECT_NAME}_nodelet ${iriutils_LIBRARY})
target_link_libraries(${PROJECT_NAME}_nodelet ${firewire_LIBRARY})
target_link_libraries(${PROJECT_NAME}_nodelet ${raw1394_LIBRARY})
target_link_libraries(${PROJECT_NAME}_nodelet ${dc1394_LIBRARY})
target_link_libraries(${PROJECT_NAME}_nodelet ${iriutils_LIBRARIES})
target_link_libraries(${PROJECT_NAME}_nodelet ${firewire_camera_LIBRARIES})
target_link_libraries(${PROJECT_NAME}_nodelet ${raw1394_LIBRARIES})
target_link_libraries(${PROJECT_NAME}_nodelet ${dc1394_LIBRARIES})
# ********************************************************************
# Add message headers dependencies
# ********************************************************************
# add_dependencies(${PROJECT_NAME} <msg_package_name>_generate_messages_cpp)
add_dependencies(${PROJECT_NAME}_gencfg iri_base_driver_generate_messages_py)
# ********************************************************************
# Add dynamic reconfigure dependencies
# ********************************************************************
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS})
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS})
add_dependencies(${PROJECT_NAME}_nodelet ${${PROJECT_NAME}_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(foo_node
......
# Description
The iri_firewire_camera_driver ROS package is a wrapper of the firewire_camera C++ driver library.
# Dependencies
This node has the following dependencies:
* [firewire_camera](https://gitlab.iri.upc.edu/labrobotica/drivers/firewire_camera)
* [iri_base_driver](https://gitlab.iri.upc.edu/labrobotica/ros/iri_core/iri_base_driver):
# Install
This package, as well as all IRI dependencies, can be installed by cloning the
repository inside the active workspace:
```
roscd
cd ../src
git clone https://gitlab.iri.upc.edu/labrobotica/ros/platforms/segway/iri_segway_rmp200_driver.git
```
However, this package is normally used as part of a wider installation (i.e. a
robot, an experiment or a demosntration) which will normally include a complete
rosinstall file to be used with the [wstool](http://wiki.ros.org/wstool) tool.
# How to use it
<!--
The *node.launch* launch file is intended to be included in any launch file
that needs the node. It has the following arguments:
* name: (default: robot) namespace of the node
* config_file: (default: $(find iri_segway_rmp200_driver)/config/params.yaml) a configuration file with all the supported parameters.
A default YAML configuration file is provided in the config folder,
but each application can define a new file with the desired parameters and pass it to this launch file.
* output: (default: log) the desired output for the node. Possible values for this parameter are log and screen.
* launch_prefix: (default: none)
To remap the topics and services of the driver, use a global remap command.
-->
\ No newline at end of file
image_width: 1024
image_height: 768
camera_name: firewire_camera
camera_matrix:
rows: 3
cols: 3
data: [1296.554904, 0, 683.998137, 0, 1300.230368, 533.151633, 0, 0, 1]
distortion_model: plumb_bob
distortion_coefficients:
rows: 1
cols: 5
data: [-0.24349, 0.227189, -0.000748, -4.6e-05, 0]
rectification_matrix:
rows: 3
cols: 3
data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
projection_matrix:
rows: 3
cols: 4
data: [1241.253662, 0, 692.043757, 0, 0, 1262.634277, 536.985341, 0, 0, 0, 1, 0]
......@@ -31,46 +31,50 @@
# Author:
PACKAGE='iri_firewire_camera'
PACKAGE='iri_firewire_camera_driver'
from driver_base.msg import SensorLevels
from iri_base_driver.msg import SensorLevels
from dynamic_reconfigure.parameter_generator_catkin import *
gen = ParameterGenerator()
enum_mode = gen.enum([ gen.const("Auto", int_t, 0, "Auto mode"),
gen.const("Manual", int_t, 1, "Manual mode")],"Available feature modes")
enum_mode = gen.enum([ gen.const("Auto", int_t, 0, "Auto mode"),
gen.const("Manual", int_t, 1, "Manual mode")],
"Available feature modes")
enum_color_coding = gen.enum([ gen.const("MONO8", int_t, 0, "Mono coding with 8 bits per pixel"),
gen.const("YUV8", int_t, 1, "YUV coding with 4,2,2 pixels per channel"),
gen.const("YUV16", int_t, 2, "YUV coding with 4,4,4 pixels per channel"),
gen.const("RGB24", int_t, 3, "RGB coding with 8 bits per channel"),
gen.const("MONO16", int_t, 4, "MONO coding with 16 bits per pixel"),
gen.const("RGB48", int_t, 5, "RGB coding with 16 bits per channel"),
gen.const("RAW8", int_t, 6, "RAW coding with 8 bits per pixel"),
gen.const("RAW16", int_t, 7, "RAW coding with 16 bits per pixel")],"Available color modes")
enum_color_coding = gen.enum([ gen.const("MONO8", int_t, 0, "Mono coding with 8 bits per pixel"),
gen.const("YUV8", int_t, 1, "YUV coding with 4,2,2 pixels per channel"),
gen.const("YUV16", int_t, 2, "YUV coding with 4,4,4 pixels per channel"),
gen.const("RGB24", int_t, 3, "RGB coding with 8 bits per channel"),
gen.const("MONO16", int_t, 4, "MONO coding with 16 bits per pixel"),
gen.const("RGB48", int_t, 5, "RGB coding with 16 bits per channel"),
gen.const("RAW8", int_t, 6, "RAW coding with 8 bits per pixel"),
gen.const("RAW16", int_t, 7, "RAW coding with 16 bits per pixel")],
"Available color modes")
# Name Type Reconfiguration level Description Default Min Max
gen.add("camera_name", str_t, SensorLevels.RECONFIGURE_STOP, "Camera name", "firewire_camera")
gen.add("frame_id", str_t, SensorLevels.RECONFIGURE_STOP, "Camera frame identifier", "camera_frame")
gen.add("Camera_node", int_t, SensorLevels.RECONFIGURE_STOP, "Desired camera id", -1, -1 , 100)
gen.add("Camera_serial", str_t, SensorLevels.RECONFIGURE_STOP, "Desired camera serial number", "")
gen.add("ISO_speed", int_t, SensorLevels.RECONFIGURE_STOP, "Desired ISO speed", 800, 100, 800)
gen.add("Image_width", int_t, SensorLevels.RECONFIGURE_STOP, "Desired image width in pixels", 640, 160 , 2448)
gen.add("Image_height", int_t, SensorLevels.RECONFIGURE_STOP, "Desired image height in pixels", 480, 120 , 2048)
gen.add("Left_offset", int_t, SensorLevels.RECONFIGURE_STOP, "Desired left offset in pixels", 0, 0, 2448)
gen.add("Top_offset", int_t, SensorLevels.RECONFIGURE_STOP, "Desired top offset in pixels", 0, 0, 2048)
gen.add("Left_offset", int_t, SensorLevels.RECONFIGURE_STOP, "Desired left offset in pixels", 0, 0, 2448)
gen.add("Top_offset", int_t, SensorLevels.RECONFIGURE_STOP, "Desired top offset in pixels", 0, 0, 2048)
gen.add("Framerate", double_t, SensorLevels.RECONFIGURE_STOP, "Desired framerate in frames per second", 50,1.875 ,200)
gen.add("Color_coding", int_t, SensorLevels.RECONFIGURE_STOP, "Desired color coding", 0, 0, 7, edit_method=enum_color_coding)
gen.add("Color_coding", int_t, SensorLevels.RECONFIGURE_STOP, "Desired color coding", 0, 0, 7, edit_method=enum_color_coding)
gen.add("White_balance_enabled", bool_t, SensorLevels.RECONFIGURE_STOP, "Enable white balance feature", True)
gen.add("White_balance_mode", int_t, SensorLevels.RECONFIGURE_STOP, "White balance mode", 0, 0, 1, edit_method=enum_mode)
gen.add("White_balance_u_b_value", int_t, SensorLevels.RECONFIGURE_STOP, "White balance U/B value", 0, 0, 1023)
gen.add("White_balance_v_r_value", int_t, SensorLevels.RECONFIGURE_STOP, "White balance V/R value", 0, 0, 1023)
gen.add("White_balance_mode", int_t, SensorLevels.RECONFIGURE_STOP, "White balance mode", 0, 0, 1, edit_method=enum_mode)
gen.add("White_balance_u_b_value", int_t, SensorLevels.RECONFIGURE_STOP, "White balance U/B value", 0, 0, 1023)
gen.add("White_balance_v_r_value", int_t, SensorLevels.RECONFIGURE_STOP, "White balance V/R value", 0, 0, 1023)
gen.add("Shutter_enabled", bool_t, SensorLevels.RECONFIGURE_STOP, "Enable shutter feature", True)
gen.add("Shutter_mode", int_t, SensorLevels.RECONFIGURE_STOP, "Shutter mode", 0, 0, 1, edit_method=enum_mode)
gen.add("Shutter_value", int_t, SensorLevels.RECONFIGURE_STOP, "Shutter value", 0, 28, 4095)
gen.add("Shutter_mode", int_t, SensorLevels.RECONFIGURE_STOP, "Shutter mode", 0, 0, 1, edit_method=enum_mode)
gen.add("Shutter_value", int_t, SensorLevels.RECONFIGURE_STOP, "Shutter value", 28, 0, 4095)
gen.add("Gain_enabled", bool_t, SensorLevels.RECONFIGURE_STOP, "Enable gain feature", True)
gen.add("Gain_mode", int_t, SensorLevels.RECONFIGURE_STOP, "Gain mode", 0, 0, 1, edit_method=enum_mode)
gen.add("Gain_value", int_t, SensorLevels.RECONFIGURE_STOP, "Gain value", 0, 48, 730)
gen.add("Gain_mode", int_t, SensorLevels.RECONFIGURE_STOP, "Gain mode", 0, 0, 1, edit_method=enum_mode)
gen.add("Gain_value", int_t, SensorLevels.RECONFIGURE_STOP, "Gain value", 48, 0, 730)
import roslib; roslib.load_manifest(PACKAGE)
exit(gen.generate(PACKAGE, "FirewireCameraDriver", "FirewireCamera"))
exit(gen.generate(PACKAGE, "FirewireCameraDriver", "FirewireCameraDriver"))
tf_prefix: robot
camera_name: firewire_camera
frame_id: camera_frame
Camera_node: 0 #-1=use serial, 0,1,2...=use camera
Camera_serial: ""
#known serials
#FLEA2-R: 00b09d0100a96262
#FLEA2-L: 00b09d01006cf72a
ISO_speed: 400
Image_width: 1024
Image_height: 768
Left_offset: 0
Top_offset: 0
Framerate: 7.5
Color_coding: 6 # 0=MONO8, 1=YUV8, 2=YUV16, 3=RGB24, 4=MONO16, 5=RGB48, 6=RAW8, 7=RAW16
White_balance_enabled: true
White_balance_mode: 0 # 0=Auto, 1=Manual
White_balance_u_b_value: 0
White_balance_v_r_value: 0
Shutter_enabled: true
Shutter_mode: 0 # 0=Auto, 1=Manual
Shutter_value: 28
Gain_enabled: true
Gain_mode: 0 # 0=Auto, 1=Manual
Gain_value: 48
\subsubsection usage Usage
\verbatim
<node name="FirewireCameraDriver" pkg="iri_firewire_camera" type="FirewireCameraDriver">
<param name="frame_id" type="str" value="camera_frame" />
<param name="Camera_node" type="int" value="-1" />
<param name="cal_file" type="str" value="" />
<param name="ISO_speed" type="int" value="800" />
<param name="Image_width" type="int" value="640" />
<param name="Image_height" type="int" value="480" />
<param name="Left_offset" type="int" value="0" />
<param name="Top_offset" type="int" value="0" />
<param name="Framerate" type="double" value="50.0" />
<param name="Color_coding" type="int" value="0" />
<param name="White_balance_enabled" type="bool" value="False" />
<param name="White_balance_mode" type="int" value="0" />
<param name="White_balance_u_b_value" type="int" value="0" />
<param name="White_balance_v_r_value" type="int" value="0" />
<param name="Shutter_enabled" type="bool" value="False" />
<param name="Shutter_mode" type="int" value="0" />
<param name="Shutter_value" type="int" value="0" />
<param name="Gain_enabled" type="bool" value="False" />
<param name="Gain_mode" type="int" value="0" />
<param name="Gain_value" type="int" value="0" />
</node>
\endverbatim
\subsubsection parameters ROS parameters
Reads and maintains the following parameters on the ROS server
- \b "~frame_id" : \b [str] Camera frame identifier min: , default: camera_frame, max:
- \b "~Camera_node" : \b [int] Desired camera id min: -1, default: -1, max: 100
- \b "~cal_file" : \b [str] Camera calibration file min: , default: , max:
- \b "~ISO_speed" : \b [int] Desired ISO speed min: 100, default: 800, max: 800
- \b "~Image_width" : \b [int] Desired image width in pixels min: 160, default: 640, max: 2448
- \b "~Image_height" : \b [int] Desired image height in pixels min: 120, default: 480, max: 2048
- \b "~Left_offset" : \b [int] Desired left offset in pixels min: 0, default: 0, max: 2448
- \b "~Top_offset" : \b [int] Desired top offset in pixels min: 0, default: 0, max: 2048
- \b "~Framerate" : \b [double] Desired framerate in frames per second min: 1.875, default: 50.0, max: 200.0
- \b "~Color_coding" : \b [int] Desired color coding min: 0, default: 0, max: 7
- \b "~White_balance_enabled" : \b [bool] Enable white balance feature min: False, default: False, max: True
- \b "~White_balance_mode" : \b [int] White balance mode min: 0, default: 0, max: 1
- \b "~White_balance_u_b_value" : \b [int] White balance U/B value min: 0, default: 0, max: 1023
- \b "~White_balance_v_r_value" : \b [int] White balance V/R value min: 0, default: 0, max: 1023
- \b "~Shutter_enabled" : \b [bool] Enable shutter feature min: False, default: False, max: True
- \b "~Shutter_mode" : \b [int] Shutter mode min: 0, default: 0, max: 1
- \b "~Shutter_value" : \b [int] Shutter value min: 28, default: 0, max: 4095
- \b "~Gain_enabled" : \b [bool] Enable gain feature min: False, default: False, max: True
- \b "~Gain_mode" : \b [int] Gain mode min: 0, default: 0, max: 1
- \b "~Gain_value" : \b [int] Gain value min: 48, default: 0, max: 730
# Autogenerated param section. Do not hand edit.
param {
group.0 {
name=Dynamically Reconfigurable Parameters
desc=See the [[dynamic_reconfigure]] package for details on dynamically reconfigurable parameters.
0.name= ~frame_id
0.default= camera_frame
0.type= str
0.desc=Camera frame identifier
1.name= ~Camera_node
1.default= -1
1.type= int
1.desc=Desired camera id Range: -1 to 100
2.name= ~cal_file
2.default=
2.type= str
2.desc=Camera calibration file
3.name= ~ISO_speed
3.default= 800
3.type= int
3.desc=Desired ISO speed Range: 100 to 800
4.name= ~Image_width
4.default= 640
4.type= int
4.desc=Desired image width in pixels Range: 160 to 2448
5.name= ~Image_height
5.default= 480
5.type= int
5.desc=Desired image height in pixels Range: 120 to 2048
6.name= ~Left_offset
6.default= 0
6.type= int
6.desc=Desired left offset in pixels Range: 0 to 2448
7.name= ~Top_offset
7.default= 0
7.type= int
7.desc=Desired top offset in pixels Range: 0 to 2048
8.name= ~Framerate
8.default= 50.0
8.type= double
8.desc=Desired framerate in frames per second Range: 1.875 to 200.0
9.name= ~Color_coding
9.default= 0
9.type= int
9.desc=Desired color coding Possible values are: MONO8 (0): Mono coding with 8 bits per pixel, YUV8 (1): YUV coding with 4,2,2 pixels per channel, YUV16 (2): YUV coding with 4,4,4 pixels per channel, RGB24 (3): RGB coding with 8 bits per channel, MONO16 (4): MONO coding with 16 bits per pixel, RGB48 (5): RGB coding with 16 bits per channel, RAW8 (6): RAW coding with 8 bits per pixel, RAW16 (7): RAW coding with 16 bits per pixel
10.name= ~White_balance_enabled
10.default= False
10.type= bool
10.desc=Enable white balance feature
11.name= ~White_balance_mode
11.default= 0
11.type= int
11.desc=White balance mode Possible values are: Auto (0): Auto mode, Manual (1): Manual mode
12.name= ~White_balance_u_b_value
12.default= 0
12.type= int
12.desc=White balance U/B value Range: 0 to 1023
13.name= ~White_balance_v_r_value
13.default= 0
13.type= int
13.desc=White balance V/R value Range: 0 to 1023
14.name= ~Shutter_enabled
14.default= False
14.type= bool
14.desc=Enable shutter feature
15.name= ~Shutter_mode
15.default= 0
15.type= int
15.desc=Shutter mode Possible values are: Auto (0): Auto mode, Manual (1): Manual mode
16.name= ~Shutter_value
16.default= 0
16.type= int
16.desc=Shutter value Range: 28 to 4095
17.name= ~Gain_enabled
17.default= False
17.type= bool
17.desc=Enable gain feature
18.name= ~Gain_mode
18.default= 0
18.type= int
18.desc=Gain mode Possible values are: Auto (0): Auto mode, Manual (1): Manual mode
19.name= ~Gain_value
19.default= 0
19.type= int
19.desc=Gain value Range: 48 to 730
}
}
# End of autogenerated section. You may edit below.
<library path="lib/libiri_firewire_camera_driver_nodelet">
<class name="iri_firewire_camera_driver/FirewireCameraDriverNodelet" type="FirewireCameraDriverNodelet" base_class_type="nodelet::Nodelet">
<description>
Nodelet for the iri firewire camera module
</description>
</class>
</library>
<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>
</class>
</library>
......@@ -26,7 +26,7 @@
#define _firewire_camera_driver_h_
#include <iri_base_driver/iri_base_driver.h>
#include <iri_firewire_camera/FirewireCameraConfig.h>
#include <iri_firewire_camera_driver/FirewireCameraDriverConfig.h>
//include firewire_camera_driver main library
#include "firewirecamera.h"
......@@ -46,7 +46,7 @@
* safetely open, close, run and stop the driver at any time. It also must
* guarantee an accessible interface for all driver's parameters.
*
* The FirewireCameraConfig.cfg needs to be filled up with those parameters suitable
* The FirewireCameraDriverConfig.cfg needs to be filled up with those parameters suitable
* to be changed dynamically by the ROS dyanmic reconfigure application. The
* implementation of the CIriNode class will manage those parameters through
* methods like postNodeOpenHook() and reconfigureNodeHook().
......@@ -81,12 +81,12 @@ class FirewireCameraDriver : public iri_base_driver::IriBaseDriver
* \brief
*
*/
void dyn_rec_to_camera(iri_firewire_camera::FirewireCameraConfig &dyn_rec_config,TCameraConfig &camera_config);
void dyn_rec_to_camera(iri_firewire_camera_driver::FirewireCameraDriverConfig &dyn_rec_config,TCameraConfig &camera_config);
/**
* \brief
*
*/
void camera_to_dyn_rec(TCameraConfig &camera_config,iri_firewire_camera::FirewireCameraConfig &dyn_rec_config);
void camera_to_dyn_rec(TCameraConfig &camera_config,iri_firewire_camera_driver::FirewireCameraDriverConfig &dyn_rec_config);
/**
* \brief
*
......@@ -106,10 +106,10 @@ class FirewireCameraDriver : public iri_base_driver::IriBaseDriver
/**
* \brief define config type
*
* Define a Config type with the FirewireCameraConfig. All driver implementations
* Define a Config type with the FirewireCameraDriverConfig. All driver implementations
* will then use the same variable type Config.
*/
typedef iri_firewire_camera::FirewireCameraConfig Config;
typedef iri_firewire_camera_driver::FirewireCameraDriverConfig Config;
/**
* \brief config variable
......@@ -256,4 +256,4 @@ class FirewireCameraDriver : public iri_base_driver::IriBaseDriver
~FirewireCameraDriver();
};
#endif
#endif
\ No newline at end of file
......@@ -86,6 +86,7 @@ class FirewireCameraDriverNode : public iri_base_driver::IriBaseNodeDriver<Firew
CEventServer *event_server;
std::string new_frame_event;
std::string tf_prefix_;
std::string camera_name;
/**
* \brief post open hook
......@@ -202,7 +203,7 @@ class FirewireCameraDriverNode : public iri_base_driver::IriBaseNodeDriver<Firew
#include "nodelet/nodelet.h"
class FirewireCameraNodelet : public nodelet::Nodelet
class FirewireCameraDriverNodelet : public nodelet::Nodelet
{
private:
FirewireCameraDriverNode *node;
......@@ -213,7 +214,7 @@ class FirewireCameraNodelet : public nodelet::Nodelet
protected:
static void *spin_thread(void *param);
public:
FirewireCameraNodelet();
FirewireCameraDriverNodelet();
/**
* \brief Destructor
......@@ -221,8 +222,8 @@ class FirewireCameraNodelet : public nodelet::Nodelet
* This destructor is called when the object is about to be destroyed.
*
*/
~FirewireCameraNodelet();
~FirewireCameraDriverNodelet();
};
#endif
#endif
\ No newline at end of file
<!-- -->
<launch>
<node name="iri_firewire_camera" pkg="iri_firewire_camera" type="iri_firewire_camera" output="screen">
<param name="Camera_node" value="0" />
<param name="Framerate" value="30" />
<param name="Color_coding" value="3" />
</node>
</launch>
<!-- -->
<launch>
<node pkg="iri_firewire_camera"
name="iri_firewire_camera"
type="iri_firewire_camera"
output="screen">
<!--<param name="Camera_serial" value="00b09d01006cf72a" />-->
<param name="Camera_node" value="0" />
<param name="Color_coding" value="3" />
<param name="ISO_speed" value="400" />
<param name="Framerate" value="2.5" />
<param name="Image_width" value="1024" />
<param name="Image_height" value="768" />
</node>
<!-- <node pkg="image_view"
type="image_view"
name="image_view" >
<remap from="/image" to="/iri_firewire_camera/camera_image"/>
</node>-->
</launch>
<!-- -->
<launch>
<!-- published topics: /processed_image -->
<!-- subscribed topics: /camera/image_raw -->
<!-- /camera/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" />
</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>
</launch>
<!-- -->
<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"
output="screen">
<remap from="/bumblebee/camera_image"
to="/sensors/head_right/image_raw"/>
<!--<param name="Camera_node" value="0" />-->
<!--<param name="Camera_serial" value="00b09d01006b6fb5" />-->
<param name="Camera_serial" value="00b09d0100a96262" />
<param name="frame_id" value="bumblebee_right" type="string" />
<!-- set calibration file -->
<param name="cal_file" value="file://$(find iri_firewire_camera)/calibration/tibi_right_camera.yaml" type="string" />
<param name="ISO_speed" value="400" />
<param name="Framerate" value="1.875" />
<param name="Color_coding" value="6" />
<param name="Image_width" value="1024" />
<param name="Image_height" value="768" />
<param name="Shutter_enabled" value="True"/>
<param name="Shutter_mode" value="0" />
<param name="Shutter_value" value="10"/>
<param name="~tf_prefix" value="/bumblebee_frame" type="str"/>
</node>
<!-- published topics: /processed_image -->
<!-- subscribed topics: /sensors/head_right/image_raw -->
<!-- /sensors/head_right/camera_info -->