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URDF Description, Diagnostics, ISP Enable, and Launch Files (#81)
* Changes required to use GigE Blackfly S version * Added blackfly mesh * Added URDF of blackflys and CHANGELOG * Added new_line at end of flir_blackflys.urdf.xacro * Added DiagnosticAnalyzers and more detailed diagnostic messages * Added ISP enable and disable config and updated camera launch file to be more descriptive * Switched order of configuration to put ISP enable next to color encoding * Updated config to include enumeration for Off, Once, Continuous parameters, and udpated diagnostics.launch * Handled issue where no namespace prevents diagnostics_agg from loading from analyzer paramaters
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‎flir_camera_description/CHANGELOG.rst‎

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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package pointgrey_camera_description
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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0.1.0 (2021-11-10)
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-------------------
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* Initial Release
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* Contributors: Luis Camero
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‎flir_camera_description/CMakeLists.txt‎

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cmake_minimum_required(VERSION 2.8.3)
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project(flir_camera_description)
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find_package(catkin REQUIRED)
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catkin_package()
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install(DIRECTORY launch meshes rviz urdf
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)

‎flir_camera_description/meshes/flir_blackflys.stl‎

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‎flir_camera_description/package.xml‎

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<?xml version="1.0"?>
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<package format="2">
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<name>flir_camera_description</name>
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<version>0.1.0</version>
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<description>URDF descriptions for Flir cameras</description>
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<maintainer email="[email protected]">Luis Camero</maintainer>
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<license>BSD</license>
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<buildtool_depend>catkin</buildtool_depend>
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<exec_depend>robot_state_publisher</exec_depend>
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<exec_depend>urdf</exec_depend>
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<exec_depend>xacro</exec_depend>
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</package>

‎flir_camera_description/urdf/flir_blackflys.urdf.xacro‎

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="flir_blackflys">
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<!--
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camera_{x,y,z,mass} are physical properties of camera collision model
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lens_{r, h, mass} are physical properties of the camera lens
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hfov, fps, width, height, format, near, and far are simulation
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-->
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<xacro:macro name="flir_blackflys"
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params="frame:=camera name:=camera camera_x:=0.047758 camera_y:=0.029 camera_z:=0.029 camera_mass:=0.03
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lens_r:=0.016 lens_h:=0.04 lens_mass:= 0.05
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hfov:=1.0471975512 fps:=30 width:=720 height:=540 format:=R8G8B8 near:=0.5 far:=300">
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<link name="${frame}">
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<inertial>
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<mass value="${camera_mass}" />
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<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
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</inertial>
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<visual>
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<origin xyz="0 0 0.01425" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://flir_camera_description/meshes/flir_blackflys.stl"/>
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</geometry>
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<material name="dark_grey" />
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</visual>
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<collision>
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<origin xyz="0.003 0 ${camera_z/2}" rpy="0 0 0" />
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<geometry>
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<box size="${camera_x} ${camera_y} ${camera_z}" />
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</geometry>
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</collision>
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</link>
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<link name="${frame}_lens">
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<intertial>
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<mass values="${lens_mass}" />
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<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
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</intertial>
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<visual>
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<origin xyz="${lens_h/2} 0 0" rpy="0 1.5707 0" />
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<geometry>
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<cylinder radius="${lens_r}" length="${lens_h}"/>
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</geometry>
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<material name="dark_grey" />
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</visual>
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<collision>
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<origin xyz="${lens_h/2} 0 0" rpy="0 1.5707 0" />
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<geometry>
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<cylinder radius="${lens_r}" length="${lens_h}"/>
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</geometry>
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</collision>
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</link>
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<link name="${frame}_optical" />
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<joint name="${frame}_lens_joint" type="fixed">
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<origin xyz="0.02685 0 0.01425" rpy="0 0 0" />
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<parent link="${frame}" />
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<child link="${frame}_lens" />
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</joint>
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<joint name="${frame}_optical_joint" type="fixed">
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<origin xyz="${lens_h} 0 0" rpy="-1.570796 0 -1.570796" />
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<parent link="${frame}_lens" />
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<child link="${frame}_optical" />
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</joint>
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<!-- Gazebo -->
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<gazebo reference="${frame}_optical">
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<material>Gazebo/Grey</material>
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<sensor type="camera" name="${name}">
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<update_rate>${fps}</update_rate>
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<camera name="${name}">
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<pose>0 0 0 0 -1.5707 1.5707</pose>
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<horizontal_fov>${hfov}</horizontal_fov>
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<image>
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<width>${width}</width>
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<height>${height}</height>
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<format>${format}</format>
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</image>
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<clip>
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<near>${near}</near>
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<far>${far}</far>
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</clip>
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<noise>
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<type>gaussian</type>
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<mean>0.0</mean>
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<stddev>0.007</stddev>
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</noise>
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</camera>
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<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
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<alwaysOn>true</alwaysOn>
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<updateRate>${fps}</updateRate>
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<cameraName>${name}</cameraName>
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<imageTopicName>image_raw</imageTopicName>
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<cameraInfoTopicName>camera_info</cameraInfoTopicName>
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<frameName>${frame}_optical</frameName>
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<hackBaseline>0.07</hackBaseline>
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<distortionK1>0.0</distortionK1>
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<distortionK2>0.0</distortionK2>
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<distortionK3>0.0</distortionK3>
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<distortionT1>0.0</distortionT1>
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<distortionT2>0.0</distortionT2>
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</plugin>
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</sensor>
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</gazebo>
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</xacro:macro>
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</robot>

‎spinnaker_camera_driver/cfg/Spinnaker.cfg‎

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@@ -78,18 +78,21 @@ gen = ParameterGenerator()
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gen.add("acquisition_frame_rate", double_t, SensorLevels.RECONFIGURE_RUNNING, "User controlled acquisition frame rate in Hertz (frames per second).", 10, 0, 120)
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gen.add("acquisition_frame_rate_enable", bool_t, SensorLevels.RECONFIGURE_RUNNING, "Enables manual (True) and automatic (False) control of the aquisition frame rate", False)
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# Set Exposure
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# Note: For the Auto Exposure feature, gain and/or exposure time must be set to Once or Continuous.
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capture_modes = gen.enum([gen.const("AutoOff", str_t, "Off", ""),
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gen.const("AutoOnce", str_t, "Once", ""),
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gen.const("AutoContinuous", str_t, "Continuous", "")],
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"Automatic mode: Off, Once, or Continuous.")
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gen.add("exposure_mode", str_t, SensorLevels.RECONFIGURE_STOP, "Sets the operation mode of the Exposure (Timed or TriggerWidth).", "Timed")
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gen.add("exposure_auto", str_t, SensorLevels.RECONFIGURE_RUNNING, "Sets the automatic exposure mode to: 'Off', 'Once' or 'Continuous'", "Continuous")
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gen.add("exposure_auto", str_t, SensorLevels.RECONFIGURE_RUNNING, "Sets the automatic exposure mode to: 'Off', 'Once' or 'Continuous'", "Continuous", edit_method=capture_modes)
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gen.add("exposure_time", double_t, SensorLevels.RECONFIGURE_RUNNING, "Exposure time in microseconds when Exposure Mode is Timed and Exposure Auto is not Continuous.", 100.0, 0.0, 3000000.0)
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gen.add("auto_exposure_time_upper_limit", double_t, SensorLevels.RECONFIGURE_RUNNING, "Upper Limit on Shutter Speed.", 5000, 0.0, 3000000.0)
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# Gain Settings
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gen.add("gain_selector", str_t, SensorLevels.RECONFIGURE_RUNNING, "Selects which gain to control. The All selection is a total amplification across all channels.", "All")
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gen.add("auto_gain", str_t, SensorLevels.RECONFIGURE_RUNNING, "Gain state control. (Off, Once, Continuous)", "Continuous")
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gen.add("auto_gain", str_t, SensorLevels.RECONFIGURE_RUNNING, "Gain state control. (Off, Once, Continuous)", "Continuous", edit_method=capture_modes)
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gen.add("gain", double_t, SensorLevels.RECONFIGURE_RUNNING, "Controls the amplification of the video signal in dB.", 0, -10, 30)
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# Pan and Tilt not in Spinnaker Driver
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# White Balance
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gen.add("auto_white_balance", str_t, SensorLevels.RECONFIGURE_RUNNING, "White Balance compensates for color shifts caused by different lighting conditions.", "Off")
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gen.add("auto_white_balance", str_t, SensorLevels.RECONFIGURE_RUNNING, "White Balance compensates for color shifts caused by different lighting conditions.", "Off", edit_method=capture_modes)
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gen.add("white_balance_blue_ratio", double_t, SensorLevels.RECONFIGURE_RUNNING, "White balance blue component.", 800, 0, 1023)
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gen.add("white_balance_red_ratio", double_t, SensorLevels.RECONFIGURE_RUNNING, "White balance red component.", 550, 0, 1023)
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"Image Color Coding: Format of the pixel provided by the camera.")
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gen.add("image_format_color_coding", str_t, SensorLevels.RECONFIGURE_STOP, "Image Color coding", "Mono8", edit_method = codings)
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gen.add("image_format_color_coding", str_t, SensorLevels.RECONFIGURE_STOP, "Image Color coding", "Mono8", edit_method = codings)
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gen.add("isp_enable", bool_t, SensorLevels.RECONFIGURE_STOP, "Controls whether the image processing core is used for optional pixel format mode", True)
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# Trigger parameters

‎spinnaker_camera_driver/include/spinnaker_camera_driver/diagnostics.h‎

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#include "spinnaker_camera_driver/diagnostics.h"
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#include <diagnostic_msgs/DiagnosticArray.h>
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#include <diagnostic_msgs/DiagnosticStatus.h>
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#include <diagnostic_msgs/AddDiagnostics.h>
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#include <ros/ros.h>
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#include <bondcpp/bond.h>
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#include <utility>
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#include <string>
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class DiagnosticsManager
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{
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public:
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DiagnosticsManager(const std::string name, const std::string serial, std::shared_ptr<ros::Publisher> const& pub);
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DiagnosticsManager(const std::string name, const std::string serial, std::shared_ptr<ros::Publisher> const& pub, ros::NodeHandle& nh);
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~DiagnosticsManager();
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/*!
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std::pair<float, float> operational = std::make_pair(0.0, 0.0), float lower_bound = 0,
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float upper_bound = 0);
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void addAnalyzers();
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private:
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/*
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* diagnostic_params is aData Structure to represent a parameter and its
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// constuctor parameters
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std::string camera_name_;
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std::string serial_number_;
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ros::NodeHandle nh_;
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std::shared_ptr<bond::Bond> bond_ = nullptr;
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std::shared_ptr<ros::Publisher> diagnostics_pub_;
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// vectors to keep track of the items to publish

‎spinnaker_camera_driver/launch/camera.launch‎

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<arg name="camera_name" default="camera" />
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<arg name="camera_serial" default="0" />
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<arg name="calibrated" default="0" />
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<arg name="device_type" default="GigE" /> <!-- USB3 or GigE -->
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<arg name="device_type" default="USB3" /> <!-- USB3 or GigE -->
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<!-- When unspecified, the driver will use the default framerate as given by the
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camera itself. Use the parameter 'control_frame_rate' to enable manual frame
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rate control, and 'frame_rate' to set the frame rate value. -->
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<arg name="control_frame_rate" default="false" />
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<arg name="control_frame_rate" default="True" />
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<arg name="frame_rate" default="30" />
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<!-- Disabling ISP will dramatically increase frame-rate. However, it can only be
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disabled when using Bayer encoding (e.g. BayerRG8)-->
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<arg name="isp_enable" default="False" />
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<arg name="encoding" default="BayerRG8" />
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<arg name="color_balance" default="Continuous" /> <!-- Off, Once, or Continuous -->
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<!-- Available Encodings:
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Mono: YUV: YCbCr: Other:
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- Mono8 - YUV411Packed - YCbCr8 - BGR8
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- Mono16 - YUV422Packed - YCbCr422_8 - BGRa8
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- Mono12p - YUV444Packed - YCbCr411_8 - RGB8Packed
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- Mono12Packed
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Bayer:
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- BayerGR8 - BayerGR12p
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- BayerRG8 - BayerRG12p
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- BayerGB8 - BayerGB12p
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- BayerBG8 - BayerBG12p
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- BayerGR16 - BayerGR12Packed
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- BayerRG16 - BayerRG12Packed
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- BayerGB16 - BayerGB12Packed
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- BayerBG16 - BayerBG12Packed
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-->
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<group ns="$(arg camera_name)">
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<!-- Nodelet manager -->
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<node pkg="nodelet" type="nodelet" name="camera_nodelet_manager" args="manager" cwd="node" output="screen"/>
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->
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<!-- Camera nodelet -->
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<node pkg="nodelet" type="nodelet" name="spinnaker_camera_nodelet"
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args="load spinnaker_camera_driver/SpinnakerCameraNodelet camera_nodelet_manager" >
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<param name="frame_id" value="camera" />
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<param name="frame_id" value="$(arg camera_name)" />
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<param name="serial" value="$(arg camera_serial)" />
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<param name="device_type" value="$(arg device_type)" />
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<!-- Frame rate -->
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<param name="acquisition_frame_rate_enable" value="$(arg control_frame_rate)" />
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<param name="acquisition_frame_rate" value="$(arg frame_rate)" />
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<!-- Image Processing -->
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<param name="isp_enable" value="$(arg isp_enable)" />
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<param name="auto_white_balance" value="$(arg color_balance)" />
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<param name="image_format_color_coding" value="$(arg encoding)" />
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<!-- Image Resolution -->
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<!-- Height and width pixel size cannot be set directly. Instead use the
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binning, offset, and region of interest options.
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- RoI: range of pixels to select from original image
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(Note: RoI is defined from image pixel origin (i.e. top left))
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- Binning: reduces resolution by a factor of 1, 2, 4, or 8
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- Offset: moves the pixel origin
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x-offset = max_width/x_binning - roi_width/2
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y-offset = max_height/y_binning - roi_height/2
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-->
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<!--
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<param name="image_format_x_binning" value="2" />
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<param name="image_format_y_binning" value="2" />
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<param name="image_format_x_offset" value="128" />
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<param name="image_format_y_offset" value="122" />
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<param name="image_format_roi_width" value="1280" />
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<param name="image_format_roi_height" value="720" />
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-->
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<!-- Use the camera_calibration package to create this file -->
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<param name="camera_info_url" if="$(arg calibrated)"
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value="file://$(env HOME)/.ros/camera_info/$(arg camera_serial).yaml" />

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