diff --git a/CMakeLists.txt b/CMakeLists.txt
index 53f54681664ae8a3d89df4f33f8805ff8245b1ff..091fb34673c9112e9cdff9120dd3bc02a4e5d2a8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,5 @@
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
diff --git a/README.md b/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..4e32f43f734408f2c1f0639527e302123149dee7
--- /dev/null
+++ b/README.md
@@ -0,0 +1,47 @@
+# 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
diff --git a/calibration/default_camera.yaml b/calibration/default_camera.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..0c9dee4fb1606cb2c6bed7c5cb2d0bf21bd46703
--- /dev/null
+++ b/calibration/default_camera.yaml
@@ -0,0 +1,20 @@
+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]
diff --git a/cfg/FirewireCamera.cfg b/cfg/FirewireCameraDriver.cfg
similarity index 65%
rename from cfg/FirewireCamera.cfg
rename to cfg/FirewireCameraDriver.cfg
index 3a19b37a35eeba63bfe5356a65f5228ca4238196..70e720df0b524f1cdce596759f020414f98b3d64 100755
--- a/cfg/FirewireCamera.cfg
+++ b/cfg/FirewireCameraDriver.cfg
@@ -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"))
+
diff --git a/config/default_camera.yaml b/config/default_camera.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ff786a46c6a4274038d75065f11fe0dc23f0d176
--- /dev/null
+++ b/config/default_camera.yaml
@@ -0,0 +1,25 @@
+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
diff --git a/docs/FirewireCameraConfig-usage.dox b/docs/FirewireCameraConfig-usage.dox
deleted file mode 100644
index bd6e8fda9396f8d0d8e308c5f4ddf52d94173b55..0000000000000000000000000000000000000000
--- a/docs/FirewireCameraConfig-usage.dox
+++ /dev/null
@@ -1,26 +0,0 @@
-\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
-
diff --git a/docs/FirewireCameraConfig.dox b/docs/FirewireCameraConfig.dox
deleted file mode 100644
index 6228e37ee25bdf758de2e1695006d920e30bd28e..0000000000000000000000000000000000000000
--- a/docs/FirewireCameraConfig.dox
+++ /dev/null
@@ -1,25 +0,0 @@
-\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
-
diff --git a/docs/FirewireCameraConfig.wikidoc b/docs/FirewireCameraConfig.wikidoc
deleted file mode 100644
index 56034eda267e686fe5f40984d556b25cfe09f6da..0000000000000000000000000000000000000000
--- a/docs/FirewireCameraConfig.wikidoc
+++ /dev/null
@@ -1,88 +0,0 @@
-# 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.
diff --git a/firewire_camera_driver_nodelet_plugin.xml b/firewire_camera_driver_nodelet_plugin.xml
new file mode 100755
index 0000000000000000000000000000000000000000..c619328d157c54f37402477eef61790240ba3554
--- /dev/null
+++ b/firewire_camera_driver_nodelet_plugin.xml
@@ -0,0 +1,7 @@
+<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>
diff --git a/firewire_nodelet_plugin.xml b/firewire_nodelet_plugin.xml
deleted file mode 100755
index 90cb46ea380d61741b704a7976a64f07cf26b48f..0000000000000000000000000000000000000000
--- a/firewire_nodelet_plugin.xml
+++ /dev/null
@@ -1,7 +0,0 @@
-<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>
diff --git a/include/firewire_camera_driver.h b/include/firewire_camera_driver.h
index 72be8e30e6f9beac868aaab460cb866c193fccfd..59f3cce7235ad3ebc241e0ee2e35c33a61413462 100644
--- a/include/firewire_camera_driver.h
+++ b/include/firewire_camera_driver.h
@@ -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
diff --git a/include/firewire_camera_driver_node.h b/include/firewire_camera_driver_node.h
index 976ce6040fdba4231954a9175968f280ae7b6224..0040d476154944f0e4bf29b10c4023101c59d571 100644
--- a/include/firewire_camera_driver_node.h
+++ b/include/firewire_camera_driver_node.h
@@ -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
diff --git a/launch/camera0rgb.launch b/launch/camera0rgb.launch
deleted file mode 100644
index 748bc50609aedee3e659546d11a372e14d25e9b5..0000000000000000000000000000000000000000
--- a/launch/camera0rgb.launch
+++ /dev/null
@@ -1,9 +0,0 @@
-<!-- -->
-<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>
diff --git a/launch/camera_flea.launch b/launch/camera_flea.launch
deleted file mode 100644
index 9a200220d6f465ba01b0653338b6b92f3ece91dc..0000000000000000000000000000000000000000
--- a/launch/camera_flea.launch
+++ /dev/null
@@ -1,24 +0,0 @@
-<!-- -->
-<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>
diff --git a/launch/crop_by_2_rect.launch b/launch/crop_by_2_rect.launch
deleted file mode 100644
index 7f11c67ede58d37fe484a6b8fb41db2c14f443a0..0000000000000000000000000000000000000000
--- a/launch/crop_by_2_rect.launch
+++ /dev/null
@@ -1,31 +0,0 @@
-<!-- -->
-<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>
diff --git a/launch/firewire.launch b/launch/firewire.launch
deleted file mode 100755
index 50aad10f92efcd6bedd9119907242b1f03e17f1b..0000000000000000000000000000000000000000
--- a/launch/firewire.launch
+++ /dev/null
@@ -1,72 +0,0 @@
-<!-- -->
-<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 -->
- <!-- 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_arpose_nodelet.launch b/launch/firewire_arpose_nodelet.launch
deleted file mode 100755
index 4dcb332524da0dd21955925e29b8611572564c9a..0000000000000000000000000000000000000000
--- a/launch/firewire_arpose_nodelet.launch
+++ /dev/null
@@ -1,70 +0,0 @@
-<!-- -->
-<launch>
- <node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen">
- <!--<param name="Camera_serial" value="00b09d01006cf72a" />--> <!-- tibi rear left -->
- <param name="Camera_serial" value="00b09d0100a96262" /> <!-- tibi rear right -->
- <param name="frame_id" value="bumblebee_frame" type="string" />
- <param name="cal_file" value="file://$(find iri_firewire_camera)/calibration/tibi_right_camera.yaml" type="string" />
- <param name="ISO_speed" value="800" />
- <param name="Framerate" value="2.5" />
- <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="1" />
- <param name="Shutter_value" value="10"/>
- <param name="autosize" value="true"/>
- <remap from="/standalone_nodelet/camera_image"
- to="/camera/image_raw" />
- <remap from="/standalone_nodelet/camera_info"
- to="/camera/camera_info" />
- </node>
-
- <!-- firewire camera driver -->
- <node pkg="nodelet" type="nodelet" name="iri_firewire_nodelet" args="load iri_firewire_camera/FirewireCameraNodelet standalone_nodelet" output="screen">
- </node>
-
- <node pkg ="nodelet" type="nodelet" name="image_proc_debayer" args="load image_proc/debayer standalone_nodelet" output="screen">
- <remap from="/image_raw"
- to="/camera/image_raw"/>
- <remap from="/camera_info"
- to="/camera/camera_info"/>
- <remap from="/image_mono"
- to="/camera/image_mono"/>
- </node>
- <!-- image rectification -->
- <node pkg ="nodelet" type="nodelet" name="image_proc_rect" args="load image_proc/rectify standalone_nodelet" output="screen">
- <remap from="/image_mono"
- to="/camera/image_mono"/>
- <remap from="/camera_info"
- to="/camera/camera_info"/>
- <remap from="/image_rect"
- to="/camera/image_rect"/>
- </node>
-
- <node pkg ="nodelet" type="nodelet" name="local_th" args="load iri_image_local_binarization/ImageLocalBinNodelet standalone_nodelet" output="screen">
- <remap from="local_th/image_in/image_raw"
- to="/camera/image_rect"/>
- <remap from="local_th/image_in/camera_info"
- to="/camera/camera_info"/>
- <remap from="local_th/image_out/image_raw"
- to="/ar_pose/image_raw"/>
- <remap from="local_th/image_out/camera_info"
- to="/ar_pose/camera_info"/>
- </node>
-
- <node name="ar_pose"
- pkg ="ar_pose"
- type="ar_multi"
- respawn="false"
- output="screen">
- <param name="marker_pattern_list" type="string" value="$(find iri_ladybug2)/data/object_4x4_front"/>
- <param name="threshold" type="int" value="100"/>
- <param name="use_history" type="bool" value="true"/>
- <remap from="/camera/image_raw"
- to="/ar_pose/image_raw"/>
- <remap from="/camera/camera_info"
- to="/ar_pose/camera_info"/>
- </node>
-
-</launch>
diff --git a/launch/firewire_nodelet.launch b/launch/firewire_nodelet.launch
deleted file mode 100755
index fbd7abe8fe4db4201b404a37e796a4e5cbfca49b..0000000000000000000000000000000000000000
--- a/launch/firewire_nodelet.launch
+++ /dev/null
@@ -1,44 +0,0 @@
-<!-- -->
-<launch>
- <node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen">
- <param name="Camera_node" value="0" />
- <!--<param name="Camera_serial" value="00b09d01006b6fb5" />-->
- <param name="frame_id" value="bumblebee_frame" type="string" />
- <param name="cal_file" value="file://$(find iri_firewire_camera)/calibration/tibi_right_camera.yaml" type="string" />
- <param name="ISO_speed" value="800" />
- <param name="Framerate" value="2.5" />
- <param name="Color_coding" value="3" />
- <param name="Image_width" value="1024" />
- <param name="Image_height" value="768" />
- <param name="autosize" value="true"/>
- <remap from="/camera_out/image_raw"
- to="/image_mono" />
- <remap from="/camera_out/camera_info"
- to="/camera_info" />
- <remap from="/camera/image_raw"
- to="/standalone_nodelet/camera_image" />
- <remap from="/camera/camera_info"
- to="/standalone_nodelet/camera_info" />
- <remap from="image"
- to="/image_rect" />
- </node>
-
- <!-- firewire camera driver -->
- <node pkg="nodelet" type="nodelet" name="iri_firewire_nodelet" args="load iri_firewire_camera/FirewireCameraNodelet standalone_nodelet" output="screen">
- </node>
-
- <!-- image decimation -->
- <node pkg ="nodelet" type="nodelet" name="image_proc_dec" args="load image_proc/crop_decimate standalone_nodelet" output="screen">
- <param name="decimation_x" value="2" />
- <param name="decimation_y" value="2" />
- </node>
-
- <!-- image rectification -->
- <node pkg ="nodelet" type="nodelet" name="image_proc_rect" args="load image_proc/rectify standalone_nodelet" output="screen">
- </node>
-
- <!-- image view -->
- <node pkg="nodelet" type="nodelet" name="image" args="load image_view/image standalone_nodelet" output="screen">
- </node>
-
-</launch>
diff --git a/launch/node.launch b/launch/node.launch
new file mode 100644
index 0000000000000000000000000000000000000000..a6bbe947031965557c5de5a34e03747ad2eb15b1
--- /dev/null
+++ b/launch/node.launch
@@ -0,0 +1,33 @@
+<?xml version="1.0"?>
+<!-- -->
+<launch>
+
+ <arg name="ns" default="robot" />
+ <arg name="name" default="firewire"/>
+ <arg name="config_file" default="$(find iri_firewire_camera_driver)/config/default_camera.yaml" />
+ <arg name="cal_file" default="file://$(find iri_firewire_camera_driver)/calibration/default_camera.yaml"/>
+ <arg name="output" default="screen" />
+ <arg name="launch_prefix" default="" />
+
+ <group ns="$(arg ns)">
+
+ <node pkg ="iri_firewire_camera_driver"
+ type="iri_firewire_camera_driver"
+ name="$(arg name)"
+ output="$(arg output)"
+ launch-prefix="$(arg launch_prefix)">
+ <rosparam file="$(arg config_file)" command="load" />
+ <param name="cal_file" value="$(arg cal_file)"/>
+ </node>
+
+ </group>
+
+</launch>
+
+<!--
+published
+
+/<arg ns>/<arg name>/*
+/robot/firewire/image_raw
+/robot/firewire/camera_info
+-->
\ No newline at end of file
diff --git a/launch/nodelet.launch b/launch/nodelet.launch
new file mode 100644
index 0000000000000000000000000000000000000000..69df5292aa636f265eca89cbbe10e90fa4afe486
--- /dev/null
+++ b/launch/nodelet.launch
@@ -0,0 +1,34 @@
+<?xml version="1.0"?>
+<!-- -->
+<launch>
+
+ <arg name="name" default="robot" />
+ <arg name="config_file" default="$(find iri_firewire_camera_driver)/config/default_camera.yaml" />
+ <arg name="output" default="log" />
+ <arg name="launch_prefix" default="" />
+
+ <group ns="$(arg name)">
+
+ <node pkg ="nodelet"
+ type="nodelet"
+ name="standalone_nodelet"
+ args="manager"
+ output="$(arg output)"
+ launch-prefix="$(arg launch_prefix)"/>
+
+ <node pkg="nodelet"
+ type="nodelet"
+ name="iri_firewire_camera_driver_nodelet"
+ args="load iri_firewire_camera_driver/FirewireCameraDriverNodelet standalone_nodelet"
+ output="$(arg output)"
+ launch-prefix="$(arg launch_prefix)">
+ <rosparam file="$(arg config_file)" command="load" />
+ </node>
+
+ </group>
+
+</launch>
+
+<!-- TODO remaps image_raw, camera_info-->
+<!-- TODO params nodelet? -->
+<!-- TODO test with image_proc/crop_decimate, image_proc/rectify -->
\ No newline at end of file
diff --git a/launch/tibi_dabo_crop_by_2_rect.launch b/launch/tibi_dabo_crop_by_2_rect.launch
deleted file mode 100644
index 1eab31a45baaf4e126eca9fdc62ef687d971f9fd..0000000000000000000000000000000000000000
--- a/launch/tibi_dabo_crop_by_2_rect.launch
+++ /dev/null
@@ -1,42 +0,0 @@
-<launch>
-
- <!-- load robot defined machines -->
- <include file="$(find tibi_dabo_base)/machines/$(env ROBOT)_$(env ROS_MODE).machines" />
-
- <group ns="$(env ROBOT)">
- <!-- published topics: /$(env ROBOT)/processed_image -->
- <!-- subscribed topics: /$(env ROBOT)/sensors/head_right/image_raw -->
- <!-- /$(env ROBOT)/sensors/head_right/camera_info -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <!-- image crop -->
- <node pkg ="nodelet"
- type="nodelet"
- name="image_proc_dec"
- machine="visio"
- args="standalone image_proc/crop_decimate">
- <param name="decimation_x" value="2" />
- <param name="decimation_y" value="2" />
- <remap from="/$(env ROBOT)/camera/image_raw"
- to="/$(env ROBOT)/sensors/head_right/image_raw"/>
- <remap from="/$(env ROBOT)/camera/camera_info"
- to="/$(env ROBOT)/sensors/head_right/camera_info"/>
- </node>
-
- <!-- image rectification -->
- <node pkg ="image_proc"
- type="image_proc"
- name="image_proc_rect"
- machine="visio">
- <remap from="/$(env ROBOT)/image_raw"
- to="/$(env ROBOT)/camera_out/image_raw" />
- <remap from="/$(env ROBOT)/camera_info"
- to="/$(env ROBOT)/camera_out/camera_info" />
- <remap from="/$(env ROBOT)/image_rect_color"
- to="/$(env ROBOT)/processed_image" />
- </node>
- </group>
-</launch>
-
diff --git a/mainpage.dox b/mainpage.dox
deleted file mode 100644
index 1fb14f58f0d5c719de3759a6bdb55c0d9019210c..0000000000000000000000000000000000000000
--- a/mainpage.dox
+++ /dev/null
@@ -1,26 +0,0 @@
-/**
-\mainpage
-\htmlinclude manifest.html
-
-\b firewire_camera_node is ...
-
-<!--
-Provide an overview of your package.
--->
-
-
-\section codeapi Code API
-
-<!--
-Provide links to specific auto-generated API documentation within your
-package that is of particular interest to a reader. Doxygen will
-document pretty much every part of your code, so do your best here to
-point the reader to the actual API.
-
-If your codebase is fairly large or has different sets of APIs, you
-should use the doxygen 'group' tag to keep these APIs together. For
-example, the roscpp documentation has 'libros' group.
--->
-
-
-*/
diff --git a/package.xml b/package.xml
index 99c438411984c5328fdb2eb52ccb8bbbd376e77f..cd7fa94e66cddbd68059a9551037748c5d0dc643 100644
--- a/package.xml
+++ b/package.xml
@@ -1,18 +1,17 @@
<?xml version="1.0"?>
<package>
- <name>iri_firewire_camera</name>
+ <name>iri_firewire_camera_driver</name>
<version>1.0.0</version>
<description>Firewire camera driver</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
- <maintainer email="shernand@iri.upc.edu">Sergi Hernandez</maintainer>
<maintainer email="labrobotica@iri.upc.edu">labrobotica</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
- <license>BSD</license>
+ <license>LGPL</license>
<!-- Url tags are optional, but mutiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
@@ -30,10 +29,10 @@
<!-- Place build dependencies here -->
<!-- ****************************************************************** -->
<!-- <build_depend>message_generation</build_depend> -->
- <build_depend>iriutils</build_depend>
- <build_depend>firewire</build_depend>
- <build_depend>raw1394</build_depend>
- <build_depend>dc1394</build_depend>
+ <!--<build_depend>iriutils</build_depend>-->
+ <!--<build_depend>firewire</build_depend>-->
+ <!--<build_depend>raw1394</build_depend>-->
+ <!--<build_depend>dc1394</build_depend>-->
<build_depend>iri_base_driver</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>image_transport</build_depend>
@@ -44,10 +43,10 @@
<!-- Place run dependencies here -->
<!-- ****************************************************************** -->
<!-- <run_depend>message_runtime</run_depend> -->
- <run_depend>iriutils</run_depend>
- <run_depend>firewire</run_depend>
- <run_depend>raw1394</run_depend>
- <run_depend>dc1394</run_depend>
+ <!--<run_depend>iriutils</run_depend>-->
+ <!--<run_depend>firewire</run_depend>-->
+ <!--<run_depend>raw1394</run_depend>-->
+ <!--<run_depend>dc1394</run_depend>-->
<run_depend>iri_base_driver</run_depend>
<run_depend>sensor_msgs</run_depend>
<run_depend>image_transport</run_depend>
@@ -57,10 +56,10 @@
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<buildtool_depend>catkin</buildtool_depend>
-
+
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
- <nodelet plugin="${prefix}/firewire_nodelet_plugin.xml" />
+ <nodelet plugin="${prefix}/firewire_camera_driver_nodelet_plugin.xml" />
</export>
</package>
diff --git a/src/firewire_camera_driver.cpp b/src/firewire_camera_driver.cpp
index 254df2a33001663a8f0823a885ca89c531dc8b40..528c8f6778f89be80d92f504c751de102858adcf 100644
--- a/src/firewire_camera_driver.cpp
+++ b/src/firewire_camera_driver.cpp
@@ -59,6 +59,7 @@ bool FirewireCameraDriver::openDriver(void)
this->server->get_camera_guid(serial,&this->camera);
}
this->camera->set_ISO_speed(this->ISO_speed);
+ //this->camera->show_features();
this->camera->get_config(&this->default_conf.left_offset,&this->default_conf.top_offset,&this->default_conf.width,
&this->default_conf.height,&this->default_conf.framerate,&this->default_conf.depth,
&this->default_conf.coding);
@@ -67,7 +68,7 @@ bool FirewireCameraDriver::openDriver(void)
if((this->cal_width!=-1 && this->desired_conf.width!=this->cal_width) ||
(this->cal_height!=-1 && this->desired_conf.height!=this->cal_height))
{
- ROS_ERROR("The calibration file does not coincide with the current configuration ");
+ ROS_ERROR("FirewireCameraDriver: The calibration file does not coincide with the current configuration ");
delete this->camera;
this->camera=NULL;
return false;
@@ -79,18 +80,18 @@ bool FirewireCameraDriver::openDriver(void)
this->set_shutter(&this->config_.Shutter_enabled,&this->config_.Shutter_mode,&this->config_.Shutter_value);
// gain feature
this->set_gain(&this->config_.Gain_enabled,&this->config_.Gain_mode,&this->config_.Gain_value);
- ROS_INFO("Driver opened");
+ ROS_INFO("FirewireCameraDriver: Driver opened");
return true;
}
else
{
- ROS_INFO("No cameras available");
+ ROS_ERROR("FirewireCameraDriver: No cameras available");
return false;
}
}
else
{
- ROS_INFO("Waiting for a valid id ...");
+ ROS_WARN("FirewireCameraDriver: Waiting for a valid id ...");
return false;
}
@@ -115,11 +116,11 @@ bool FirewireCameraDriver::startDriver(void)
this->lock();
this->camera->start();
this->unlock();
- ROS_INFO("Driver started");
+ ROS_INFO("FirewireCameraDriver: Driver started");
return true;
}catch(CException &e){
this->unlock();
- //ROS_INFO(e.what().data());
+ ROS_ERROR("FirewireCameraDriver:startDriver:Exception: %s", e.what().data());
return false;
}
}
@@ -135,11 +136,11 @@ bool FirewireCameraDriver::stopDriver(void)
this->lock();
this->camera->stop();
this->unlock();
- ROS_INFO("Driver stopped");
+ ROS_INFO("FirewireCameraDriver: Driver stopped");
return true;
}catch(CException &e){
this->unlock();
- //ROS_INFO(e.what().data());
+ ROS_ERROR("FirewireCameraDriver:stopDriver:Exception: %s", e.what().data());
return false;
}
}
@@ -155,7 +156,7 @@ void FirewireCameraDriver::config_update(Config& new_cfg, uint32_t level)
// update driver with new_cfg data
switch(this->getState())
{
- case FirewireCameraDriver::CLOSED:
+ case iri_base_driver::CLOSED:
this->lock();
this->camera_id=new_cfg.Camera_node;
this->camera_serial=new_cfg.Camera_serial;
@@ -166,7 +167,7 @@ void FirewireCameraDriver::config_update(Config& new_cfg, uint32_t level)
this->unlock();
break;
- case FirewireCameraDriver::OPENED:
+ case iri_base_driver::OPENED:
if(new_cfg.Camera_node!=-1)
{
try{
@@ -175,15 +176,15 @@ void FirewireCameraDriver::config_update(Config& new_cfg, uint32_t level)
this->ISO_speed=new_cfg.ISO_speed;
if(this->camera_id!=new_cfg.Camera_node)
{
- this->close();
+ this->closeDriver();
this->camera_id=new_cfg.Camera_node;
- this->open();
+ this->openDriver();
}
if(this->camera_serial!=new_cfg.Camera_serial)
{
- this->close();
+ this->closeDriver();
this->camera_serial=new_cfg.Camera_serial;
- this->open();
+ this->openDriver();
}
this->dyn_rec_to_camera(new_cfg,conf);
this->change_config(&conf);
@@ -200,7 +201,7 @@ void FirewireCameraDriver::config_update(Config& new_cfg, uint32_t level)
this->frame_id=new_cfg.frame_id;
this->unlock();
}catch(CFirewireCameraException &e){
- ROS_INFO("Invalid configuration. Setting back the default configuration ...");
+ ROS_WARN("FirewireCameraDriver:config_update: Invalid configuration. Setting back the default configuration ...[%s]", e.what().c_str());
this->change_config(&this->default_conf);
this->camera_to_dyn_rec(this->default_conf,new_cfg);
this->unlock();
@@ -208,7 +209,7 @@ void FirewireCameraDriver::config_update(Config& new_cfg, uint32_t level)
}
break;
- case FirewireCameraDriver::RUNNING:
+ case iri_base_driver::RUNNING:
break;
}
@@ -216,7 +217,7 @@ void FirewireCameraDriver::config_update(Config& new_cfg, uint32_t level)
this->config_=new_cfg;
}
-void FirewireCameraDriver::dyn_rec_to_camera(iri_firewire_camera::FirewireCameraConfig &dyn_rec_config,TCameraConfig &camera_config)
+void FirewireCameraDriver::dyn_rec_to_camera(iri_firewire_camera_driver::FirewireCameraDriverConfig &dyn_rec_config,TCameraConfig &camera_config)
{
camera_config.left_offset=dyn_rec_config.Left_offset;
camera_config.top_offset=dyn_rec_config.Top_offset;
@@ -255,7 +256,7 @@ void FirewireCameraDriver::dyn_rec_to_camera(iri_firewire_camera::FirewireCamera
}
}
-void FirewireCameraDriver::camera_to_dyn_rec(TCameraConfig &camera_config,iri_firewire_camera::FirewireCameraConfig &dyn_rec_config)
+void FirewireCameraDriver::camera_to_dyn_rec(TCameraConfig &camera_config,iri_firewire_camera_driver::FirewireCameraDriverConfig &dyn_rec_config)
{
dyn_rec_config.Left_offset=camera_config.left_offset;
dyn_rec_config.Top_offset=camera_config.top_offset;
@@ -313,7 +314,7 @@ void FirewireCameraDriver::change_config(TCameraConfig *new_conf)
new_conf->coding=current_conf.coding;
}
}catch(CFirewireCameraException &e){
- ROS_INFO("Invalid configuration. Setting back the default configuration ...");
+ ROS_WARN("FirewireCameraDriver:change_config: Invalid configuration. Setting back the default configuration ...[%s]", e.what().c_str());
this->change_config(&this->default_conf);
new_conf->left_offset=this->default_conf.left_offset;
new_conf->top_offset=this->default_conf.top_offset;
@@ -339,7 +340,7 @@ void FirewireCameraDriver::set_white_balance(bool *enable,int *mode, int *u_b_va
this->camera->enable_feature(DC1394_FEATURE_WHITE_BALANCE);
}catch(CFirewireFeatureException &e){
(*enable)=false;
- ROS_INFO("The white balance feature can not be enabled");
+ ROS_WARN("FirewireCameraDriver: The white balance feature can not be enabled");
return;
}
if((*mode)==0)
@@ -348,7 +349,7 @@ void FirewireCameraDriver::set_white_balance(bool *enable,int *mode, int *u_b_va
this->camera->set_feature_auto(DC1394_FEATURE_WHITE_BALANCE);
}catch(CFirewireFeatureException &e){
(*mode)=1;
- ROS_INFO("The white balance feature can not be set in auto mode");
+ ROS_WARN("FirewireCameraDriver: The white balance feature can not be set in auto mode");
return;
}
}
@@ -358,14 +359,14 @@ void FirewireCameraDriver::set_white_balance(bool *enable,int *mode, int *u_b_va
this->camera->set_feature_manual(DC1394_FEATURE_WHITE_BALANCE);
}catch(CFirewireFeatureException &e){
(*mode)=0;
- ROS_INFO("The white balance feature can not be set in manual mode");
+ ROS_WARN("FirewireCameraDriver: The white balance feature can not be set in manual mode");
return;
}
try{
this->camera->set_white_balance_value((*u_b_value),(*v_r_value));
}catch(CFirewireFeatureException &e){
this->camera->get_white_balance_value((unsigned int *)u_b_value,(unsigned int *)v_r_value);
- ROS_INFO("The white balance value is out of range");
+ ROS_WARN("FirewireCameraDriver: The white balance value is out of range");
return;
}
}
@@ -377,7 +378,7 @@ void FirewireCameraDriver::set_white_balance(bool *enable,int *mode, int *u_b_va
this->camera->disable_feature(DC1394_FEATURE_WHITE_BALANCE);
}catch(CFirewireFeatureException &e){
(*enable)=true;
- ROS_INFO("The white balance feature can not be disabled");
+ ROS_WARN("FirewireCameraDriver: The white balance feature can not be disabled");
return;
}
}
@@ -385,10 +386,10 @@ void FirewireCameraDriver::set_white_balance(bool *enable,int *mode, int *u_b_va
else
{
(*enable)=false;
- ROS_INFO("The white balance feature is not present");
+ ROS_WARN("FirewireCameraDriver: The white balance feature is not present");
}
}catch(CFirewireInternalException &e){
- ROS_INFO("Impossible to set the white balance feature");
+ ROS_ERROR("FirewireCameraDriver: Impossible to set the white balance feature");
}
}
@@ -404,7 +405,7 @@ void FirewireCameraDriver::set_shutter(bool *enable,int *mode, int *value)
this->camera->enable_feature(DC1394_FEATURE_SHUTTER);
}catch(CFirewireFeatureException &e){
(*enable)=false;
- ROS_INFO("The shutter feature is not present");
+ ROS_WARN("FirewireCameraDriver: The shutter feature is not present");
return;
}
if((*mode)==0)
@@ -413,7 +414,7 @@ void FirewireCameraDriver::set_shutter(bool *enable,int *mode, int *value)
this->camera->set_feature_auto(DC1394_FEATURE_SHUTTER);
}catch(CFirewireFeatureException &e){
(*mode)=1;
- ROS_INFO("The shutter feature can not be set in auto mode");
+ ROS_WARN("FirewireCameraDriver: The shutter feature can not be set in auto mode");
return;
}
}
@@ -423,14 +424,14 @@ void FirewireCameraDriver::set_shutter(bool *enable,int *mode, int *value)
this->camera->set_feature_manual(DC1394_FEATURE_SHUTTER);
}catch(CFirewireFeatureException &e){
(*mode)=0;
- ROS_INFO("The shutter feature can not be set in manual mode");
+ ROS_WARN("FirewireCameraDriver: The shutter feature can not be set in manual mode");
return;
}
try{
this->camera->set_feature_value(DC1394_FEATURE_SHUTTER,(*value));
}catch(CFirewireFeatureException &e){
(*value)=this->camera->get_feature_value(DC1394_FEATURE_SHUTTER);
- ROS_INFO("The shutter value is out of range");
+ ROS_WARN("FirewireCameraDriver: The shutter value is out of range");
return;
}
}
@@ -442,7 +443,7 @@ void FirewireCameraDriver::set_shutter(bool *enable,int *mode, int *value)
this->camera->disable_feature(DC1394_FEATURE_SHUTTER);
}catch(CFirewireFeatureException &e){
(*enable)=true;
- ROS_INFO("The shutter feature can not be disabled");
+ ROS_WARN("FirewireCameraDriver: The shutter feature can not be disabled");
return;
}
}
@@ -450,10 +451,10 @@ void FirewireCameraDriver::set_shutter(bool *enable,int *mode, int *value)
else
{
(*enable)=false;
- ROS_INFO("The shutter feature is not present");
+ ROS_WARN("FirewireCameraDriver: The shutter feature is not present");
}
}catch(CFirewireInternalException &e){
- ROS_INFO("Impossible to set the shutter feature");
+ ROS_ERROR("FirewireCameraDriver: Impossible to set the shutter feature");
}
}
@@ -469,7 +470,7 @@ void FirewireCameraDriver::set_gain(bool *enable, int *mode, int *value)
this->camera->enable_feature(DC1394_FEATURE_GAIN);
}catch(CFirewireFeatureException &e){
(*enable)=false;
- ROS_INFO("The gain feature is not present");
+ ROS_WARN("FirewireCameraDriver: The gain feature is not present");
return;
}
if((*mode)==0)
@@ -478,7 +479,7 @@ void FirewireCameraDriver::set_gain(bool *enable, int *mode, int *value)
this->camera->set_feature_auto(DC1394_FEATURE_GAIN);
}catch(CFirewireFeatureException &e){
(*mode)=1;
- ROS_INFO("The gain feature can not be set in auto mode");
+ ROS_WARN("FirewireCameraDriver: The gain feature can not be set in auto mode");
return;
}
}
@@ -488,14 +489,14 @@ void FirewireCameraDriver::set_gain(bool *enable, int *mode, int *value)
this->camera->set_feature_manual(DC1394_FEATURE_GAIN);
}catch(CFirewireFeatureException &e){
(*mode)=0;
- ROS_INFO("The gain feature can not be set in manual mode");
+ ROS_WARN("FirewireCameraDriver: The gain feature can not be set in manual mode");
return;
}
try{
this->camera->set_feature_value(DC1394_FEATURE_GAIN,(*value));
}catch(CFirewireFeatureException &e){
(*value)=this->camera->get_feature_value(DC1394_FEATURE_GAIN);
- ROS_INFO("The gain value is out of range");
+ ROS_WARN("FirewireCameraDriver: The gain value is out of range");
return;
}
}
@@ -507,7 +508,7 @@ void FirewireCameraDriver::set_gain(bool *enable, int *mode, int *value)
this->camera->disable_feature(DC1394_FEATURE_GAIN);
}catch(CFirewireFeatureException &e){
(*enable)=true;
- ROS_INFO("The gain feature can not be disabled");
+ ROS_WARN("FirewireCameraDriver: The gain feature can not be disabled");
return;
}
}
@@ -515,10 +516,10 @@ void FirewireCameraDriver::set_gain(bool *enable, int *mode, int *value)
else
{
(*enable)=false;
- ROS_INFO("The gain feature is not present");
+ ROS_WARN("FirewireCameraDriver: The gain feature is not present");
}
}catch(CFirewireInternalException &e){
- ROS_INFO("Impossible to set the gain feature");
+ ROS_ERROR("FirewireCameraDriver: Impossible to set the gain feature");
}
}
@@ -622,4 +623,4 @@ std::string FirewireCameraDriver::get_bayer_pattern(void)
FirewireCameraDriver::~FirewireCameraDriver()
{
this->server->close();
-}
+}
\ No newline at end of file
diff --git a/src/firewire_camera_driver_node.cpp b/src/firewire_camera_driver_node.cpp
index d52b3ecd8993dbdc7b8c2f2bef3ff0da2a40a839..1667f556b0785261d69d54f98cf2f5caa2430fa1 100644
--- a/src/firewire_camera_driver_node.cpp
+++ b/src/firewire_camera_driver_node.cpp
@@ -1,46 +1,51 @@
#include "firewire_camera_driver_node.h"
FirewireCameraDriverNode::FirewireCameraDriverNode(ros::NodeHandle &nh) : iri_base_driver::IriBaseNodeDriver<FirewireCameraDriver>(nh),
- camera_manager(ros::NodeHandle(this->public_node_handle_))
+ camera_manager(ros::NodeHandle(nh))
{
std::string cal_file;
bool cal_ok=false;
//init class attributes if necessary
- this->loop_rate_ = 1000;//in [Hz]
+ double loop_rate = 1000;//in [Hz]
+ this->setRate(loop_rate);
+
this->desired_framerate=30.0;
this->diagnosed_camera_image=NULL;
- this->camera.it.reset(new image_transport::ImageTransport(this->public_node_handle_));
+ this->camera.it.reset(new image_transport::ImageTransport(this->private_node_handle_));
this->camera.Image_msg_=sensor_msgs::ImagePtr(new sensor_msgs::Image);
- this->diagnosed_camera_image = new diagnostic_updater::HeaderlessTopicDiagnostic("camera_image",this->diagnostic_,
+ this->diagnosed_camera_image = new diagnostic_updater::HeaderlessTopicDiagnostic("image_raw",this->diagnostic_,
diagnostic_updater::FrequencyStatusParam(&this->desired_framerate,&this->desired_framerate,0.01,5));
this->event_server=CEventServer::instance();
+
+
// [init publishers]
- this->camera.camera_image_publisher_ = this->camera.it->advertiseCamera("camera_image", 1);
+ this->camera.camera_image_publisher_ = this->camera.it->advertiseCamera("image_raw", 1);
// try to load the calibration file
- public_node_handle_.param<std::string>("cal_file", cal_file, "");
- this->camera_manager.setCameraName("firewire_camera");
+ private_node_handle_.param<std::string>("cal_file", cal_file, "");
+ private_node_handle_.param<std::string>("camera_name", this->camera_name, "firewire_camera");
+ this->camera_manager.setCameraName(this->camera_name);
if(this->camera_manager.validateURL(cal_file))
{
if(this->camera_manager.loadCameraInfo(cal_file))
{
- ROS_INFO("Found calibration file for the camera: %s",cal_file.c_str());
+ ROS_INFO("FirewireCameraDriverNode: Found calibration file for the camera: %s",cal_file.c_str());
cal_ok=true;
}
else
{
- ROS_INFO("Invalid calibration file for the camera");
+ ROS_ERROR("FirewireCameraDriverNode: Invalid calibration file for the camera: %s", cal_file.c_str());
cal_ok=false;
}
this->camera.CameraInfo_msg_.reset(new sensor_msgs::CameraInfo(this->camera_manager.getCameraInfo()));
}
else
{
- ROS_INFO("Calibration file does not exist");
+ ROS_ERROR("FirewireCameraDriverNode: Calibration file does not exist: %s", cal_file.c_str());
cal_ok=false;
}
@@ -128,7 +133,7 @@ void FirewireCameraDriverNode::mainNodeThread(void)
this->driver_.unlock();
}catch(CException &e){
this->driver_.unlock();
- ROS_INFO("Impossible to capture frame");
+ ROS_ERROR("FirewireCameraDriverNode:Impossible to capture frame[%s]", e.what().c_str());
}
//fill srv structure and make request to the server
}
@@ -212,17 +217,17 @@ FirewireCameraDriverNode::~FirewireCameraDriverNode()
/* main function */
int main(int argc,char *argv[])
{
- return driver_base::main<FirewireCameraDriverNode>(argc,argv,"firewire_camera_driver_node");
+ return iri_base_driver::main<FirewireCameraDriverNode>(argc,argv,"firewire_camera_driver_node");
}
#include <pluginlib/class_list_macros.h>
-FirewireCameraNodelet::FirewireCameraNodelet()
+FirewireCameraDriverNodelet::FirewireCameraDriverNodelet()
{
this->node=NULL;
}
-FirewireCameraNodelet::~FirewireCameraNodelet(void)
+FirewireCameraDriverNodelet::~FirewireCameraDriverNodelet(void)
{
// kill the thread
this->thread_server->kill_thread(this->spin_thread_id);
@@ -234,7 +239,7 @@ FirewireCameraNodelet::~FirewireCameraNodelet(void)
delete this->node;
}
-void FirewireCameraNodelet::onInit()
+void FirewireCameraDriverNodelet::onInit()
{
// initialize the driver node
this->node=new FirewireCameraDriverNode(getPrivateNodeHandle());
@@ -247,9 +252,9 @@ void FirewireCameraNodelet::onInit()
this->thread_server->start_thread(this->spin_thread_id);
}
-void *FirewireCameraNodelet::spin_thread(void *param)
+void *FirewireCameraDriverNodelet::spin_thread(void *param)
{
- FirewireCameraNodelet *nodelet=(FirewireCameraNodelet *)param;
+ FirewireCameraDriverNodelet *nodelet=(FirewireCameraDriverNodelet *)param;
nodelet->node->spin();
@@ -257,5 +262,4 @@ void *FirewireCameraNodelet::spin_thread(void *param)
}
// parameters are: package, class name, class type, base class type
-PLUGINLIB_DECLARE_CLASS(iri_firewire_camera, FirewireCameraNodelet, FirewireCameraNodelet, nodelet::Nodelet);
-
+PLUGINLIB_DECLARE_CLASS(iri_firewire_camera_driver, FirewireCameraDriverNodelet, FirewireCameraDriverNodelet, nodelet::Nodelet);
\ No newline at end of file