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triorb_camera_capture

パス: triorb_sensor/triorb_camera_capture
説明: カメラキャプチャーのためのパッケージ

triorb_camera_capture

カメラキャプチャーのためのパッケージ

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

カメラ情報受信

  • Topic：(prefix)/camera(0-N)_device # 末尾の整数はカメラのID
  • Node：(prefix)_camera_capture
  • Type：triorb_sensor_interface/msg/CameraDevice
  • Usage：
root@orin-nx-XXX:~/$ ros2 topic echo /camera0_device
header:
  stamp:
    sec: 1753408673
    nanosec: 447031540
  frame_id: cam0
device: /dev/video-csi0
topic: /camera0
id: cam0
state: sleep
rotation: 0
exposure: 0
gamma: 0.0
timer: 0.30000001192092896

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'])