Removed dependency on the deprecated driver_base package.

libuvc_camera/CMakeLists.txt

@@ -2,7 +2,7 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(libuvc_camera)
 # Load catkin and all dependencies required for this package
-find_package(catkin REQUIRED COMPONENTS roscpp camera_info_manager driver_base dynamic_reconfigure image_transport nodelet sensor_msgs)
+find_package(catkin REQUIRED COMPONENTS roscpp camera_info_manager dynamic_reconfigure image_transport nodelet sensor_msgs)
 
 generate_dynamic_reconfigure_options(cfg/UVCCamera.cfg)
 
@@ -12,7 +12,6 @@ catkin_package(
   CATKIN_DEPENDS
     roscpp
     camera_info_manager
-    driver_base
     dynamic_reconfigure
     image_transport
     nodelet

libuvc_camera/cfg/UVCCamera.cfg

@@ -2,32 +2,35 @@
 # Derived from camera1394 cfg
 
 from dynamic_reconfigure.parameter_generator_catkin import *
-from driver_base.msg import SensorLevels
+
+RECONFIGURE_CLOSE = 3 # Parameters that need a sensor to be stopped completely when changed
+RECONFIGURE_STOP = 1 # Parameters that need a sensor to stop streaming when changed
+RECONFIGURE_RUNNING = 0 # Parameters that can be changed while a sensor is streaming
 
 gen = ParameterGenerator()
 
 #       Name, Type, Reconfiguration level, Description, Default, Min, Max
 
-gen.add("vendor", str_t, SensorLevels.RECONFIGURE_CLOSE,
+gen.add("vendor", str_t, RECONFIGURE_CLOSE,
         "Vendor ID, hex digits (use camera of any vendor if null).",
         "")
 
-gen.add("product", str_t, SensorLevels.RECONFIGURE_CLOSE,
+gen.add("product", str_t, RECONFIGURE_CLOSE,
         "Product ID, hex digits (use camera of any model if null).",
         "")
 
-gen.add("serial", str_t, SensorLevels.RECONFIGURE_CLOSE,
+gen.add("serial", str_t, RECONFIGURE_CLOSE,
         "Serial number, arbitrary string (use camera of any serial number if null).",
         "")
 
-gen.add("index", int_t, SensorLevels.RECONFIGURE_CLOSE,
+gen.add("index", int_t, RECONFIGURE_CLOSE,
         "Index into the list of cameras that match the above parameters.",
         0, 0)
 
-gen.add("width", int_t, SensorLevels.RECONFIGURE_CLOSE,
+gen.add("width", int_t, RECONFIGURE_CLOSE,
         "Image width.", 640, 0)
 
-gen.add("height", int_t, SensorLevels.RECONFIGURE_CLOSE,
+gen.add("height", int_t, RECONFIGURE_CLOSE,
         "Image height.", 480, 0)
 
 video_modes = gen.enum([gen.const("uncompressed", str_t, "uncompressed", "Use any uncompressed format"),
@@ -37,11 +40,11 @@ video_modes = gen.enum([gen.const("uncompressed", str_t, "uncompressed", "Use an
                         gen.const("jpeg", str_t, "jpeg", "JPEG/MJPEG")],
                        "Video stream format")
 
-gen.add("video_mode", str_t, SensorLevels.RECONFIGURE_CLOSE,
+gen.add("video_mode", str_t, RECONFIGURE_CLOSE,
         "Format of video stream from camera.", "uncompressed",
         edit_method = video_modes)
 
-gen.add("frame_rate", double_t, SensorLevels.RECONFIGURE_CLOSE,
+gen.add("frame_rate", double_t, RECONFIGURE_CLOSE,
         "Camera speed, frames per second.", 15.0, 0.1, 1000.0)
 
 timestamp_methods = gen.enum([gen.const("PubTime", str_t, "pub", "Time of publication"),
@@ -50,15 +53,15 @@ timestamp_methods = gen.enum([gen.const("PubTime", str_t, "pub", "Time of public
                               gen.const("HostReceiptTime", str_t, "hostrcpt", "Time when camera-to-host transfer completed")],
                              "Methods for determining the timestamp")
 
-gen.add("timestamp_method", str_t, SensorLevels.RECONFIGURE_CLOSE,
+gen.add("timestamp_method", str_t, RECONFIGURE_CLOSE,
         "Method for determining the timestamp.", "start",
         edit_method = timestamp_methods)
 
-gen.add("frame_id", str_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("frame_id", str_t, RECONFIGURE_RUNNING,
         "ROS tf frame of reference, resolved with tf_prefix unless absolute.",
         "camera")
 
-gen.add("camera_info_url", str_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("camera_info_url", str_t, RECONFIGURE_RUNNING,
         "Path to camera calibration file.", "")
 
 # Camera Terminal controls
@@ -67,7 +70,7 @@ scanning_modes = gen.enum([gen.const("Interlaced", int_t, 0, ""),
                            gen.const("Progressive", int_t, 1, "")],
                           "Scanning modes")
 
-gen.add("scanning_mode", int_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("scanning_mode", int_t, RECONFIGURE_RUNNING,
         "Scanning mode.", 0, 0, 1,
         edit_method = scanning_modes)
 
@@ -77,64 +80,64 @@ auto_exposure_modes = gen.enum([gen.const("Manual", int_t, 0, "Manual exposure,
                                 gen.const("Aperture_Priority", int_t, 3, "auto exposure, manual iris")],
                                "Auto-exposure modes")
 
-gen.add("auto_exposure", int_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("auto_exposure", int_t, RECONFIGURE_RUNNING,
         "Auto exposure mode.",
         1, 0, 3, edit_method = auto_exposure_modes)
 
-gen.add("auto_exposure_priority", int_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("auto_exposure_priority", int_t, RECONFIGURE_RUNNING,
         "In auto mode or shutter priority mode, allow the device to vary frame rate.",
         0, 0, 1)
 
-gen.add("exposure_absolute", double_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("exposure_absolute", double_t, RECONFIGURE_RUNNING,
         "Length of exposure, seconds.", 0., 0.0001, 10.0)
 
 # TODO: relative exposure time
 
-gen.add("iris_absolute", double_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("iris_absolute", double_t, RECONFIGURE_RUNNING,
         "Aperture, f.", 0., 0., 655.35)
 
 # TODO: relative iris
 
-gen.add("auto_focus", bool_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("auto_focus", bool_t, RECONFIGURE_RUNNING,
         "Maintain focus automatically.", False)
 
-gen.add("focus_absolute", int_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("focus_absolute", int_t, RECONFIGURE_RUNNING,
         "Absolute focal distance, millimeters.", 0, 0, 65536)
 
 # TODO: relative focus
 
 # TODO: zoom
 
-gen.add("pan_absolute", int_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("pan_absolute", int_t, RECONFIGURE_RUNNING,
         "Pan (clockwise), arc seconds.", 0, -180*3600, 180*3600)
 
-gen.add("tilt_absolute", int_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("tilt_absolute", int_t, RECONFIGURE_RUNNING,
         "Tilt (up), arc seconds.", 0, -180*3600, 180*3600)
 
 # TODO: relative pan/tilt
 
-gen.add("roll_absolute", int_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("roll_absolute", int_t, RECONFIGURE_RUNNING,
         "Roll (clockwise), degrees.", 0, -180, 180)
 
 # TODO: relative roll
 
-gen.add("privacy", bool_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("privacy", bool_t, RECONFIGURE_RUNNING,
         "Image capture disabled.", False)
 
 # Processing Unit controls
 
-gen.add("backlight_compensation", int_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("backlight_compensation", int_t, RECONFIGURE_RUNNING,
         "Backlight compensation, device-dependent (zero for none, increasing compensation above zero).",
         0, 0, 65536)
 
 
-gen.add("brightness", int_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("brightness", int_t, RECONFIGURE_RUNNING,
         "Brightness, device dependent.", 0, -32768, 32767)
 
-gen.add("contrast", int_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("contrast", int_t, RECONFIGURE_RUNNING,
         "Contrast, device dependent.", 0, -32768, 32767)
 
-gen.add("gain", int_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("gain", int_t, RECONFIGURE_RUNNING,
         "Gain, device dependent.", 0, 0, 65536)
 
 power_line_frequency_modes = gen.enum([gen.const("Disabled", int_t, 0, "Disabled"),
@@ -142,39 +145,39 @@ power_line_frequency_modes = gen.enum([gen.const("Disabled", int_t, 0, "Disabled
                                        gen.const("Freq_60", int_t, 1, "60 Hz")],
                                       "Power line frequency modes")
 
-gen.add("power_line_frequency", int_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("power_line_frequency", int_t, RECONFIGURE_RUNNING,
         "Power line frequency anti-flicker processing.",
         0, 0, 2,
         edit_method = power_line_frequency_modes)
 
-gen.add("auto_hue", bool_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("auto_hue", bool_t, RECONFIGURE_RUNNING,
         "Automatic hue control.", False)
 
-gen.add("hue", double_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("hue", double_t, RECONFIGURE_RUNNING,
         "Hue, degrees.", 0., -180., 180.)
 
-gen.add("saturation", int_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("saturation", int_t, RECONFIGURE_RUNNING,
         "Saturation, device dependent (zero for grayscale).", 0, 0, 65536)
 
-gen.add("sharpness", int_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("sharpness", int_t, RECONFIGURE_RUNNING,
         "Image sharpness, device dependent.",
         0, 0, 65536)
 
 # TODO: check range definition
-gen.add("gamma", double_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("gamma", double_t, RECONFIGURE_RUNNING,
         "Gamma.", 1.0, 0.01, 5.0)
 
-gen.add("auto_white_balance", bool_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("auto_white_balance", bool_t, RECONFIGURE_RUNNING,
         "Automatic white balance.", False)
 
-gen.add("white_balance_temperature", int_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("white_balance_temperature", int_t, RECONFIGURE_RUNNING,
         "White balance temperature, degrees.", 0, 0, 65536)
 
-gen.add("white_balance_BU", double_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("white_balance_BU", double_t, RECONFIGURE_RUNNING,
         "Blue or U component of white balance, device-dependent.",
         0, 0, 65536)
 
-gen.add("white_balance_RV", double_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("white_balance_RV", double_t, RECONFIGURE_RUNNING,
         "Red or V component of white balance, device-dependent.",
         0, 0, 65536)
 

libuvc_camera/include/libuvc_camera/camera_driver.h

@@ -28,6 +28,11 @@ private:
     kRunning = 2,
   };
 
+  // Flags controlling whether the sensor needs to be stopped (or reopened) when changing settings
+  static const int kReconfigureClose = 3; // Need to close and reopen sensor to change this setting
+  static const int kReconfigureStop = 1; // Need to stop the stream before changing this setting
+  static const int kReconfigureRunning = 0; // We can change this setting without stopping the stream
+
   void OpenCamera(UVCCameraConfig &new_config);
   void CloseCamera();
 

libuvc_camera/package.xml

@@ -35,7 +35,6 @@
   <!--   <build_depend>message_generation</build_depend> -->
   <build_depend>roscpp</build_depend>
   <build_depend>camera_info_manager</build_depend>
-  <build_depend>driver_base</build_depend>
   <build_depend>dynamic_reconfigure</build_depend>
   <build_depend>image_transport</build_depend>
   <build_depend>libuvc</build_depend>
@@ -48,7 +47,6 @@
   <!--   <run_depend>message_runtime</run_depend> -->
   <run_depend>roscpp</run_depend>
   <run_depend>camera_info_manager</run_depend>
-  <run_depend>driver_base</run_depend>
   <run_depend>dynamic_reconfigure</run_depend>
   <run_depend>image_transport</run_depend>
   <run_depend>libuvc</run_depend>

libuvc_camera/src/camera_driver.cpp

@@ -38,7 +38,6 @@
 #include <std_msgs/Header.h>
 #include <image_transport/camera_publisher.h>
 #include <dynamic_reconfigure/server.h>
-#include <dynamic_reconfigure/SensorLevels.h>
 #include <libuvc/libuvc.h>
 
 namespace libuvc_camera {
@@ -100,7 +99,7 @@ void CameraDriver::Stop() {
 void CameraDriver::ReconfigureCallback(UVCCameraConfig &new_config, uint32_t level) {
   boost::recursive_mutex::scoped_lock(mutex_);
 
-  if (level & dynamic_reconfigure::SensorLevels::RECONFIGURE_CLOSE) {
+  if ((level & kReconfigureClose) == kReconfigureClose) {
     if (state_ == kRunning)
       CloseCamera();
   }