Package: triorb_camera_capture

更新履歴

1.1.0

• 画像のENQUEUEをtimer_callbackの最後に全カメラ同時に行うように変更
• gainを設定可能
• gain, exposureを設定時にauto_exposureをオフにするように変更

camera_capture API

カメラ画像受信

• Topic：(prefix)/camera(0-N) # 末尾の整数はカメラのID
• Node：(prefix)_camera_capture
• Type：sensor_msgs/Image
• Frequency：最大1/0.02 Hz
• Usage：

  root@orin-nx-XXX:~/$ ros2 topic info /camera0; ros2 topic hz /camera0
  Type: sensor_msgs/msg/Image
  Publisher count: 1
  Subscription count: 0
  average rate: 9.537
        min: 0.072s max: 0.240s std dev: 0.04572s window: 13
  ...
  average rate: 10.766
        min: 0.064s max: 0.240s std dev: 0.02494s window: 266
  

カメラデバイス一覧取得

• Topic：(prefix)/get/camera/state
• Node：(prefix)_camera_capture
• Type：triorb_sensor_interface/srv/CameraDevice
• Usage：

  root@orin-nx-XXX:~/$ ros2 service call /get/camera/state triorb_sensor_interface/srv/CameraDevice
  ...
  response:
  triorb_sensor_interface.srv.CameraDevice_Response(result=[triorb_sensor_interface.msg.CameraDevice(device='/dev/video0', topic='/camera0', id='cam0', state='awake', rotation=0, exposure=800, gamma=1.0, timer=0.02), ...])
  

カメラデバイスの起動・終了

• Topic：(prefix)/set/camera/state
• Node：(prefix)_camera_capture
• Type：triorb_sensor_interface/srv/CameraCapture
• Usage：

  root@orin-nx-XXX:~/$ ros2 service call /set/camera/state triorb_sensor_interface/srv/CameraCapture '{request: [{device: /dev/video0, topic: /camera0, id: camera0, state: wakeup, rotation: 0, exposure: 500, gamma: 1.0, timer: 0.1}, {device: /dev/video2, topic: /camera1, id: camera1, state: wakeup, rotation: 0, exposure: 500, gamma: 1.0, timer: 0.1}]}'
  ...
  response:
  triorb_sensor_interface.srv.CameraCamture_Response(result=['success','success'])
  

camera format

• width 1600
• height 1300
• pixel format GREY (gray scale 8bit)

If you want use other formats, change following variables.

• width, height in cap_cam.cpp (for width and height)
• V4L2_PIX_FMT_GREY in CameraCapture.cpp (for pixel format)

use multiple camera

• see launch/multi_camera_launch.xml