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cs:cameras:start [2016/12/13 19:11] Sean Kallaher |
cs:cameras:start [2022/09/29 20:48] (current) Justin Pilgrim [Running With ROS] |
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| * The packet delay should also be changed to account for the packet size increase. It should be the lowest delay that does not cause consistency errors depending on the setup. This can be tested by configuring the delay and running the cameras for about 5 minutes. If the cameras report no loss then those settings are optimal. | * The packet delay should also be changed to account for the packet size increase. It should be the lowest delay that does not cause consistency errors depending on the setup. This can be tested by configuring the delay and running the cameras for about 5 minutes. If the cameras report no loss then those settings are optimal. | ||
| * Be aware that the jumbo packet size cannot usually be maxed out. (On my system I could only get to ~7000 byte packets before the stream would freeze) In order to get optimal settings you have to play with the packet size and delay until you get the highest estimated bandwidth without errors. | * Be aware that the jumbo packet size cannot usually be maxed out. (On my system I could only get to ~7000 byte packets before the stream would freeze) In order to get optimal settings you have to play with the packet size and delay until you get the highest estimated bandwidth without errors. | ||
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| + | ===Serial Numbers=== | ||
| + | * Left: | ||
| + | * Right: 14406634 | ||
| ===== Camera Settings ===== | ===== Camera Settings ===== | ||
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| This can become a little tedious after a while, so the current Robosub repository contains a launch file of its own. This can be used as follows: | This can become a little tedious after a while, so the current Robosub repository contains a launch file of its own. This can be used as follows: | ||
| roslaunch robosub cameras.launch | roslaunch robosub cameras.launch | ||
| - | The cameras should begin publishing on the **/camera/[left\right]** topic. If you wish to change the serial number used for the left/right camera simply remap it when launching. | + | The cameras should begin publishing on the **/camera/[left|right|bottom]/image** topic. If you wish to change the serial number used for the left/right camera simply remap it when launching. |
| roslaunch robosub cameras.launch left_serial:=12345678 right_serial:=12345679 | roslaunch robosub cameras.launch left_serial:=12345678 right_serial:=12345679 | ||
| In the future, a downward facing camera is also planned to be added, though many of the steps will be similar. | In the future, a downward facing camera is also planned to be added, though many of the steps will be similar. | ||
| - | One more note, when using the Point Grey drivers, the cameras will publish a [[https://github.com/ros-drivers/pointgrey_camera_driver/blob/master/wfov_camera_msgs/msg/WFOVImage.msg|WFOVImage message]] so many standard ros systems may not be able to use the data without it being republished. | + | One more note, when using the Point Grey drivers, the cameras will publish a [[https://github.com/ros-drivers/pointgrey_camera_driver/blob/master/wfov_camera_msgs/msg/WFOVImage.msg|WFOVImage]] message so many standard ros systems may not be able to use the data without it being republished. A republisher has been implemented in the Robosub repository and can be run with the following command: |
| + | rosrun robosub camera_repub | ||
| + | This will republish the [[https://github.com/ros-drivers/pointgrey_camera_driver/blob/master/wfov_camera_msgs/msg/WFOVImage.msg|WFOVImage message]] messages as [[http://docs.ros.org/api/sensor_msgs/html/msg/Image.html|sensor_msgs/Image]] messages on the **/camera/[left|right|bottom]/undistorted** topic which aligns with the undistortion nodes so nodes are agnostic as to whether or not undistortion is being performed. | ||
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| + | {{bryant-koshu-mech-copy.jpg}} | ||
