Added a new configuration parameter to open the camera by the serial number.

Removed all the references to the ROBOT variable from the launch files.

cfg/FirewireCamera.cfg

@@ -53,6 +53,7 @@ gen.const("RAW16", int_t, 7, "RAW coding with 16 bits per pixel")],"Available co
 #       Name                       Type       Reconfiguration level            Description                       Default   Min   Max
 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("cal_file",                str_t,     SensorLevels.RECONFIGURE_STOP,   "Camera calibration file",        "")
 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)

include/firewire_camera_driver.h

@@ -58,7 +58,8 @@ class FirewireCameraDriver : public iri_base_driver::IriBaseDriver
     // private attributes and methods
     CFirewireCamera *camera;
     CFirewireServer *server;
-    long int camera_id;
+    int camera_id;
+    std::string camera_serial;
     int ISO_speed;
     // desired configuration
     TCameraConfig desired_conf;

launch/firewire.launch

@@ -9,19 +9,20 @@
   <!-- action servers: -->
   <node pkg ="iri_firewire_camera"
         type="iri_firewire_camera"
-        name="bumblebee">
+        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="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="cal_file"     value="file://$(find iri_firewire_camera)/calibration/tibi_right_camera.yaml" type="string" />
     <param name="ISO_speed"    value="400" />
     <param name="Framerate"    value="7.5" />
     <param name="Color_coding" value="3" />
     <param name="Image_width"  value="1024" />
     <param name="Image_height" value="768" />
-    <param name="~tf_prefix"   value="/$(env ROBOT)" type="str"/>
+    <param name="~tf_prefix"   value="/bumblebee_frame" type="str"/>
   </node>
 
   <!-- published topics: /processed_image -->

launch/firewire_arpose_nodelet.launch

 <launch>
   <node pkg="nodelet" type="nodelet" name="standalone_nodelet"  args="manager" output="screen">
-    <param name="Camera_node"  value="2" />
-    <param name="frame_id"     value="bumblebee_frame" 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="6" />
-    <param name="Image_width"  value="1024" />
-    <param name="Image_height" value="768" />
-    <param name="autosize"     value="true"/>
+    <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="400" />
+    <param name="Framerate"     value="7.5" />
+    <param name="Color_coding"  value="6" />
+    <param name="Image_width"   value="1024" />
+    <param name="Image_height"  value="768" />
+    <param name="autosize"      value="true"/>
     <remap from="/standalone_nodelet/camera_image"
              to="/camera/image_raw" />
     <remap from="/standalone_nodelet/camera_info"

launch/firewire_nodelet.launch

 <launch>
   <node pkg="nodelet" type="nodelet" name="standalone_nodelet"  args="manager" output="screen">
-    <param name="Camera_node"  value="1" />
-    <param name="frame_id"     value="bumblebee_frame" 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" />
-    <param name="Image_width"  value="1024" />
-    <param name="Image_height" value="768" />
-    <param name="autosize"     value="true"/>
+    <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="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="autosize"      value="true"/>
     <remap from="/camera_out/image_raw"
              to="/image_mono" />
     <remap from="/camera_out/camera_info"

src/firewire_camera_driver.cpp

@@ -40,13 +40,23 @@ FirewireCameraDriver::FirewireCameraDriver()
 
 bool FirewireCameraDriver::openDriver(void)
 {
+  std::stringstream buffer;
+  unsigned long long serial;
+
   //setDriverId(driver string id);
-  if(this->camera_id!=-1)
+  if(this->camera_id!=-1 || this->camera_serial.size()!=0)
   {
     this->server->init();
     if(this->server->get_num_cameras()>0)
     {
-      this->server->get_camera(this->camera_id,&this->camera);
+      if(this->camera_serial.size()==0)
+        this->server->get_camera(this->camera_id,&this->camera);
+      else
+      { 
+        buffer << this->camera_serial;
+        buffer >> std::hex >> serial;
+        this->server->get_camera_guid(serial,&this->camera);
+      }
       this->camera->set_ISO_speed(this->ISO_speed);
       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,
@@ -131,6 +141,7 @@ void FirewireCameraDriver::config_update(Config& new_cfg, uint32_t level)
     case FirewireCameraDriver::CLOSED:
       this->lock();
       this->camera_id=new_cfg.Camera_node;
+      this->camera_serial=new_cfg.Camera_serial;
       this->ISO_speed=new_cfg.ISO_speed;
       this->dyn_rec_to_camera(new_cfg,this->desired_conf);
       // change the calibration file
@@ -153,6 +164,12 @@ void FirewireCameraDriver::config_update(Config& new_cfg, uint32_t level)
             this->camera_id=new_cfg.Camera_node;
             this->open();
           }
+          if(this->camera_serial!=new_cfg.Camera_serial)
+          {
+            this->close();
+            this->camera_serial=new_cfg.Camera_serial;
+            this->open();
+          }
           this->dyn_rec_to_camera(new_cfg,conf);
           this->change_config(&conf);
           // write the configuration back to the dynamic reconfigure window