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cs:cameras:start [2017/01/20 21:30] Sean Kallaher [Running With ROS] |
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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| rosrun robosub camera_repub | 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. | 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}} | ||
