Merge pull request #80 from cwruRobotics/flir-cameras

Flir cameras

src/surface/ps5_controller/README.md

@@ -20,7 +20,7 @@ ros2 launch ps5-controller controller_launch.py
 
 * **`/joy`** ([sensor_msgs/Joy])
 
-    Outdated ROV movement instructions 
+    Information about the controller input.
 
 ## Subscribed Topics
 

src/surface/ps5_controller/package.xml

@@ -3,7 +3,7 @@
 <package format="3">
   <name>ps5_controller</name>
   <version>1.0.0</version>
-  <description>Biolerplate for calling standard joystick launch file.</description>
+  <description>Boilerplate for calling standard joystick launch file.</description>
   <maintainer email="rmc170@case.edu">Michael Carlstrom</maintainer>
   <license>Apache License 2.0</license>
 

src/surface/ps5_controller/setup.py

@@ -22,7 +22,7 @@
     zip_safe=True,
     maintainer='Michael Carlstrom',
     maintainer_email='rmc170@case.edu',
-    description='Biolerplate for calling standard joystick launch file.',
+    description='Boilerplate for calling standard joystick launch file.',
     license='Apache License 2.0',
     tests_require=['pytest'],
     entry_points={},

src/surface/rov_flir/README.md

@@ -0,0 +1,74 @@
+# rov_flir
+
+## Overview
+
+This is a boilerplate package which launches the camera_driver_node from the flir_launch package.
+
+## Setup
+
+Run the setup file from spinnaker_camera_driver
+
+```bash
+ros2 run spinnaker_camera_driver linux_setup_flir
+```
+
+## Debugging
+
+You can install the Spinnaker SDK & Spinview GUI for debugging [here](https://www.flir.com/products/spinnaker-sdk/).
+
+If you get errors about cameras on the wrong subnet, install this and open Spinview. Write click the entries for each camera and select "Auto Force IPs".
+
+## Usage
+
+Run the main node with
+
+```bash
+ros2 launch rov_flir flir_launch.py
+```
+
+## Settings
+
+In the config folder are the nodes from the spinnaker api, these are different from ROS nodes. They are basically settings of the cameras. Each setting in the config file has a `name` which is the name of the ROS parameter, a `type` which is the data type of the field, and finally each setting has a `node` which is the name of the setting in spinnaker.
+
+## Launch files
+
+* **flir_launch.py:** Launches the camera_driver_node for the two flir cameras.
+
+## Published Topics
+
+* **`/front_camera/image_raw`** ([sensor_msgs/msg/Image])
+
+    Image feed for front camera.
+
+* **`/front_camera/meta`** ([flir_camera_msgs/msg/ImageMetaData])
+
+    Front camera image meta data.
+
+* **`/front_camera/camera_info`** ([sensor_msgs/msg/CameraInfo])
+
+    Front camera info.
+
+* **`/bottom_camera/image_raw`** ([sensor_msgs/msg/Image])
+
+    Image feed for bottom camera.
+
+* **`/bottom_camera/meta`** ([flir_camera_msgs/msg/ImageMetaData])
+
+    Bottom camera image meta data.
+
+* **`/bottom_camera/camera_info`** ([sensor_msgs/msg/CameraInfo])
+
+    Bottom camera info.
+
+## Subscribed Topics
+
+* **`/front_camera/control`** ([flir_camera_msgs/msg/CameraControl])
+    Controls exposure and gain.
+
+* **`/bottom_camera/control`** ([flir_camera_msgs/msg/CameraControl])
+    Controls exposure and gain.
+
+[sensor_msgs/msg/Image]: https://docs.ros2.org/latest/api/sensor_msgs/msg/Image.html
+[flir_camera_msgs/msg/ImageMetaData]: https://github.com/ros-drivers/flir_camera_driver/blob/humble-devel/flir_camera_msgs/msg/ImageMetaData.msg
+[sensor_msgs/msg/CameraInfo]: https://docs.ros2.org/latest/api/sensor_msgs/msg/CameraInfo.html
+[flir_camera_msgs/msg/CameraControl]: https://github.com/ros-drivers/flir_camera_driver/blob/humble-devel/flir_camera_msgs/msg/CameraControl.msg

src/surface/rov_flir/config/blackfly_s.yaml

@@ -0,0 +1,154 @@
+#
+# config file for blackfly S cameras (USB3 and GigE)
+#
+# This file maps the ros parameters to the corresponding Spinnaker "nodes" in the camera.
+# For more details on how to modify this file, see the README on camera configuration files.
+
+
+parameters:
+  #
+  # -------- image format control
+  #
+  - name: pixel_format
+    type: enum
+    # Check available values with SpinView. Not all are supported by ROS!
+    # Some formats are e.g. "Mono8", "BayerRG8", "BGR8", "BayerRG16"
+    # default is "BayerRG8"
+    node: ImageFormatControl/PixelFormat
+  - name: image_width
+    type: int
+    node: ImageFormatControl/Width
+  - name: image_height
+    type: int
+    node: ImageFormatControl/Height
+  - name: offset_x  # offset must come after image width reduction!
+    type: int
+    node: ImageFormatControl/OffsetX
+  - name: offset_y
+    type: int
+    node: ImageFormatControl/OffsetY
+    # Added by ROV
+  - name: binning_x
+    type: int
+    node: ImageFormatControl/BinningHorizontal
+  - name: binning_y
+    type: int
+    node: ImageFormatControl/BinningVertical
+  #
+  # -------- analog control
+  #
+  - name: gain_auto
+    type: enum
+    # valid values are "Continuous", "Off"
+    node: AnalogControl/GainAuto
+  - name: gain
+    type: float
+    node: AnalogControl/Gain
+  #
+  # -------- device link throughput limiting
+  #
+  - name: device_link_throughput_limit
+    type: int
+    node: DeviceControl/DeviceLinkThroughputLimit
+  #
+  # -------- transport layer control (GigE)
+  #
+  - name: gev_scps_packet_size
+    type: int
+    # default is 1400. Set to 9000 to enable jumbo frames, ensure NIC MTU set >= 9000
+    node: TransportLayerControl/GigEVision/GevSCPSPacketSize
+  #
+  # -------- digital IO control
+  #
+  - name: line0_selector  # black wire: opto-isolated input
+    type: enum
+    node: DigitalIOControl/LineSelector
+  - name: line1_selector  # white wire: opto-isolated output
+    type: enum
+    node: DigitalIOControl/LineSelector
+  - name: line1_linemode  # valid values: "Input", "Output"
+    type: enum
+    node: DigitalIOControl/LineMode
+  - name: line2_selector  # red wire: non-isolated input/output
+    type: enum
+    node: DigitalIOControl/LineSelector
+  - name: line2_v33enable # red wire: 3.3V power
+    type: bool
+    node: DigitalIOControl/V3_3Enable
+  - name: line3_selector  # green wire: aux voltage input and non-isolated input
+    type: enum
+    node: DigitalIOControl/LineSelector
+  - name: line3_linemode  # valid values: "Input", "Output"
+    type: enum
+    node: DigitalIOControl/LineMode
+  #
+  # -------- acquisition control
+  #
+  - name: exposure_auto
+    type: enum
+    # valid values are "Off", "Continuous"
+    node: AcquisitionControl/ExposureAuto
+  - name: exposure_time
+    type: float
+    node: AcquisitionControl/ExposureTime
+  - name: frame_rate_enable
+    type: bool
+    node: AcquisitionControl/AcquisitionFrameRateEnable
+  - name: frame_rate
+    type: float
+    node: AcquisitionControl/AcquisitionFrameRate
+  - name: trigger_selector
+    type: enum
+    # valid values are e.g. "FrameStart", "AcquisitionStart", "FrameBurstStart"
+    node: AcquisitionControl/TriggerSelector
+  - name: trigger_mode
+    type: enum
+    # valid values are "On" and "Off"
+    node: AcquisitionControl/TriggerMode
+  - name: trigger_source
+    type: enum
+    # valid values are "Line<0,1,2>", "UserOutput<0,1,2>", "Counter<0,1><Start/End>",
+    # "LogicBlock<0,1>
+    node: AcquisitionControl/TriggerSource
+  - name: trigger_delay
+    # value >= 9 
+    type: float
+    node: AcquisitionControl/TriggerDelay
+  - name: trigger_overlap
+    type: enum
+    # valid values: "Off" and "ReadOut"
+    node: AcquisitionControl/TriggerOverlap
+  #
+  # --------- chunk control
+  #
+  - name: chunk_mode_active
+    type: bool
+    node: ChunkDataControl/ChunkModeActive
+  - name: chunk_selector_frame_id
+    type: enum
+    # valid values: "FrameID"
+    node: ChunkDataControl/ChunkSelector
+  - name: chunk_enable_frame_id
+    type: bool
+    node: ChunkDataControl/ChunkEnable
+  - name: chunk_selector_exposure_time
+    type: enum
+    # valid values: "ExposureTime"
+    node: ChunkDataControl/ChunkSelector
+  - name: chunk_enable_exposure_time
+    type: bool
+    node: ChunkDataControl/ChunkEnable
+  - name: chunk_selector_gain
+    type: enum
+    # valid values: "Gain"
+    node: ChunkDataControl/ChunkSelector
+  - name: chunk_enable_gain
+    type: bool
+    node: ChunkDataControl/ChunkEnable
+  - name: chunk_selector_timestamp
+    type: enum
+    # valid values: "Timestamp"
+    node: ChunkDataControl/ChunkSelector
+  - name: chunk_enable_timestamp
+    type: bool
+    node: ChunkDataControl/ChunkEnable

src/surface/rov_flir/launch/flir_launch.py

@@ -0,0 +1,76 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch.launch_description import LaunchDescription
+from launch_ros.actions import Node
+from launch_ros.parameter_descriptions import Parameter
+
+
+def generate_launch_description() -> LaunchDescription:
+
+    parameter_file = os.path.join(get_package_share_directory('rov_flir'), 'config',
+                                  'blackfly_s.yaml')
+
+    parameters = {
+        'debug': False,
+        'compute_brightness': False,
+        'adjust_timestamp': True,
+        'dump_node_map': False,
+        # set parameters defined in blackfly_s.yaml
+        'gain_auto': 'Continuous',
+        # 'pixel_format': 'BayerRG8',
+        'exposure_auto': 'Continuous',
+        # These are useful for GigE cameras
+        'device_link_throughput_limit': 125000000,
+        'gev_scps_packet_size': 9000,
+        # ---- to reduce the sensor width and shift the crop
+        #   'image_width': 1280,
+        #   'image_height': 720,
+        # 'offset_x': 16,
+        # 'offset_y': 0,
+        'binning_x': 2,
+        'binning_y': 2,
+        'frame_rate_auto': 'Off',
+        'frame_rate': 60.0,
+        'frame_rate_enable': True,
+        'buffer_queue_size': 1,
+        'trigger_mode': 'Off',
+        'chunk_mode_active': True,
+        'chunk_selector_frame_id': 'FrameID',
+        'chunk_enable_frame_id': True,
+        'chunk_selector_exposure_time': 'ExposureTime',
+        'chunk_enable_exposure_time': True,
+        'chunk_selector_gain': 'Gain',
+        'chunk_enable_gain': True,
+        'chunk_selector_timestamp': 'Timestamp',
+        'chunk_enable_timestamp': True
+    }
+
+    # launches node to run front flir camera
+    front_cam: Node = Node(
+        package='spinnaker_camera_driver',
+        executable='camera_driver_node',
+        name='front_camera',
+        emulate_tty=True,
+        output='screen',
+        parameters=[Parameter('serial_number', '23473577'),
+                    Parameter('parameter_file', parameter_file),
+                    parameters]
+    )
+
+    # launches node to run bottom flir camera
+    bottom_cam: Node = Node(
+        package='spinnaker_camera_driver',
+        executable='camera_driver_node',
+        name='bottom_camera',
+        emulate_tty=True,
+        output='screen',
+        parameters=[Parameter('serial_number', '23473566'),
+                    Parameter('parameter_file', parameter_file),
+                    parameters]
+    )
+
+    return LaunchDescription([
+        front_cam,
+        bottom_cam
+    ])

src/surface/rov_flir/package.xml

@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>rov_flir</name>
+  <version>1.0.0</version>
+  <description>Boilerplate for calling flir launch file.</description>
+  <maintainer email="rmc170@case.edu">Michael Carlstrom</maintainer>
+  <license>Apache License 2.0</license>
+
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <exec_depend>ros2launch</exec_depend>
+  <exec_depend>spinnaker_camera_driver</exec_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

src/surface/rov_flir/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/rov_flir
+[install]
+install_scripts=$base/lib/rov_flir

src/surface/rov_flir/setup.py

@@ -0,0 +1,30 @@
+import os
+from glob import glob
+
+from setuptools import setup
+
+package_name = 'rov_flir'
+
+setup(
+    name=package_name,
+    version='1.0.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+        # Include all launch files.
+        (os.path.join('share', package_name, 'launch'),
+         glob('launch/*launch.[pxy][yma]*')),
+        (os.path.join('share', package_name, 'config'),
+         glob('config/*'))
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='Michael Carlstrom',
+    maintainer_email='rmc170@case.edu',
+    description='Boilerplate for calling standard flir launch file.',
+    license='Apache License 2.0',
+    tests_require=['pytest'],
+    entry_points={},
+)