Added support to access GigEVision cameras via IP address. This resolves

 #13

README.md

@@ -10,6 +10,8 @@ It currently implements the gigabit ethernet and USB3 protocols used by industri
 
 **Acknowledgement**: This software was developed as part of the project [ROBDEKON – Robotic Systems for Decontamination in Hazardous Environments](https://robdekon.de/), funded by the Federal Ministry of Education and Research (BMBF) under the German Federal Government’s Research for Civil Security program.
 
+*camera_aravis for ROS 1 can be found here: https://github.com/FraunhoferIOSB/camera_aravis*
+
 ------------------------
 
 ### Continuous Integration:
@@ -37,6 +39,7 @@ It currently implements the gigabit ethernet and USB3 protocols used by industri
     - [How to manually trigger calculation of white balance ratios](#how-to-manually-trigger-calculation-of-white-balance-ratios)
     - [How to dynamically change camera parameters](#how-to-dynamically-change-camera-parameters)
     - [How to publish camera diagnostics / status](#how-to-publish-camera-diagnostics--status)
+    - [How to access GigEVision camera using the IP address](#how-to-access-gigevision-camera-using-the-ip-address)
 - [Known Issues](#known-issues)
 
 ------------------------
@@ -53,7 +56,7 @@ The configuration of the camera driver is divided into a driver-specific and Gen
 
 #### Driver-specific Parameters
 
-- `guid`: Serial number of the camera that is to be opened. GUIDs of available cameras can be discovered with [`camera_finder`](#finding-available-cameras) node.
+- `guid`: Serial number or IP address *(GigEVision Cameras only)* of the camera that is to be opened. GUIDs and IP addresses of available cameras can be discovered with [`camera_finder`](#finding-available-cameras) node.
     - Type: String
     - Default: ""
     - Optional. If omitted a random camera is picked from the list of connected cameras and will be opened.
@@ -403,6 +406,11 @@ additionally specify a list of ```Selectors```. Each entry in this list should a
 For each feature a key-value pair is constructed and published in the ```data``` field of the 
 message stated above. If a feature as a list of selectors, one key-value pair is constructed for each Feature-Selector pair.
 
+### How to access GigEVision camera using the IP address
+
+GigEVision cameras can also be accessed using their IP address instead of their serial number simply by passing the address to the launch parameter [`guid`](#driver-specific-parameters). 
+GUIDs and IP addresses of available cameras can be discovered with [`camera_finder`](#finding-available-cameras) node. 
+
 ## Known Issues
 
 - **Permanent acquisition and publication of image data prior to Jazzy Jalisco:**

camera_aravis2/include/camera_aravis2/camera_aravis_node_base.h

@@ -298,6 +298,11 @@ class CameraAravisNodeBase : public rclcpp::Node
     //--- FUNCTION DECLARATION ---//
 
   protected:
+    /**
+     * @brief Check if given string is an IP Adress.
+     */
+    static bool isIpAddress(const std::string& str);
+
     /**
      * @brief Construct GUID string of given camera, using vendor name, model name and
      * device serial number.

camera_aravis2/src/camera_aravis_node_base.cpp

@@ -29,6 +29,8 @@
 #include "camera_aravis2/camera_aravis_node_base.h"
 
 // Std
+#include <regex>
+#include <string>
 #include <type_traits>
 
 // camera_aravis2
@@ -57,6 +59,7 @@ CameraAravisNodeBase::~CameraAravisNodeBase()
     if (p_camera_)
         g_object_unref(p_camera_);
 
+    arv_shutdown();
     RCLCPP_INFO(logger_, "Node has shut down.");
 }
 
@@ -84,9 +87,11 @@ bool CameraAravisNodeBase::isInitialized() const
     RCLCPP_INFO(logger_, "Attached cameras (Num. Interfaces: %d | Num. Devices: %d):",
                 n_interfaces, n_devices);
     for (uint i = 0; i < n_devices; i++)
+    {
         RCLCPP_INFO(logger_, "  Device %d: %s (%s)", i,
                     arv_get_device_id(i),
                     arv_get_device_address(i));
+    }
 
     return true;
 }
@@ -667,6 +672,21 @@ bool CameraAravisNodeBase::executeCommand(const std::string& feature_name) const
     return is_successful;
 }
 
+//==================================================================================================
+bool CameraAravisNodeBase::isIpAddress(const std::string& str)
+{
+    //--- Regular expression for an IPv4 address
+    //--- 25[0-5] allows values between 250-255
+    //--- 2[0-4][0-9] allows values between 200-249
+    //--- [01]?[0-9][0-9] allows values between 0-199
+    //--- this is repeated three times with a succeeding .
+    //--- (\b ... \b) ensures that the whole expression is considered
+    std::regex ipv4Regex(
+      R"((\b(25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)\.){3}(25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)\b)");
+
+    return std::regex_match(str, ipv4Regex);
+}
+
 //==================================================================================================
 std::string CameraAravisNodeBase::constructCameraGuidStr(ArvCamera* p_cam)
 {

camera_aravis2/src/camera_driver.cpp

@@ -1706,6 +1706,8 @@ void CameraDriver::spawnCameraStreams()
     std::string camera_guid_str = CameraAravisNodeBase::constructCameraGuidStr(p_camera_);
     RCLCPP_INFO(logger_, "Done initializing.");
     RCLCPP_INFO(logger_, "  Camera:        %s", camera_guid_str.c_str());
+    if (arv_camera_is_gv_device(p_camera_) && CameraAravisNodeBase::isIpAddress(guid_))
+        RCLCPP_INFO(logger_, "  IP:            %s", guid_.c_str());
     RCLCPP_INFO(logger_, "  Num. Streams:  (%i / %i)",
                 num_opened_streams, static_cast<int>(streams_.size()));
 
@@ -1874,10 +1876,12 @@ void CameraDriver::printCameraConfiguration() const
     rclcpp::ParameterValue tmp_param_value;
     std::vector<std::pair<std::string, rclcpp::ParameterValue>> tmp_param_values;
 
+    std::string camera_guid_str = CameraAravisNodeBase::constructCameraGuidStr(p_camera_);
+
     RCLCPP_INFO(logger_, "======================================");
     RCLCPP_INFO(logger_, "Camera Configuration:");
     RCLCPP_INFO(logger_, "--------------------------------------");
-    RCLCPP_INFO(logger_, "  GUID:                  %s", guid_.c_str());
+    RCLCPP_INFO(logger_, "  GUID:                  %s", camera_guid_str.c_str());
     if (is_verbose_enable_)
     {
         RCLCPP_INFO(logger_, "  Type:                  %s",