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Feature/namespacing launch fixes #36

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Feature/namespacing launch fixes #36

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cbb2b50
Update topic names
Jun 7, 2018
ed560b3
Fix duplicate launch install
Jun 7, 2018
461d527
Fix camera info args
Jun 8, 2018
2fc611c
Move dynamic reconfigure into private nh
Jun 21, 2018
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4 changes: 0 additions & 4 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -143,10 +143,6 @@ install(DIRECTORY include
## Mark other files for installation (e.g. launch and bag files, etc.)
install(FILES
plugins.xml
launch/mono_camera.launch
launch/mono_camera_nodelet.launch
launch/stereo_camera_one_node.launch
launch/stereo_camera_two_nodes.launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)

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2 changes: 1 addition & 1 deletion cfg/AvtVimbaCameraStereo.cfg
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Expand Up @@ -106,7 +106,7 @@ gen.add("right_frame_id", str_t, SensorLevels.RECONFIGURE_RUNNING
gen.add("right_trig_timestamp_topic", str_t, SensorLevels.RECONFIGURE_STOP, "Sets the topic from which an externally trigged camera receives its trigger timestamps.", "")
# ACQUISITION
gen.add("right_acquisition_mode", str_t, SensorLevels.RECONFIGURE_STOP, "Camera acquisition mode", "Continuous", edit_method = acquisition_mode_enum)
gen.add("right_acquisition_rate", double_t, SensorLevels.RECONFIGURE_RUNNING, "Sets the expected triggering rate in externally triggered mode.", 2.0, 1.0, 30.0)
gen.add("right_acquisition_rate", double_t, SensorLevels.RECONFIGURE_RUNNING, "Sets the expected triggering rate in externally triggered mode.", 10.0, 1.0, 30.0)
# TRIGGER
gen.add("right_trigger_source", str_t, SensorLevels.RECONFIGURE_STOP, "Camera trigger source", "FixedRate", edit_method = trigger_source_enum)
gen.add("right_trigger_mode", str_t, SensorLevels.RECONFIGURE_STOP, "Camera trigger mode", "On", edit_method = trigger_mode_enum)
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2 changes: 1 addition & 1 deletion include/avt_vimba_camera/mono_camera.h
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Expand Up @@ -79,7 +79,7 @@ class MonoCamera {
// Dynamic reconfigure
typedef avt_vimba_camera::AvtVimbaCameraConfig Config;
typedef dynamic_reconfigure::Server<Config> ReconfigureServer;
ReconfigureServer reconfigure_server_;
boost::shared_ptr<ReconfigureServer> reconfigure_server_;

// Camera configuration
Config camera_config_;
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2 changes: 1 addition & 1 deletion include/avt_vimba_camera/stereo_camera.h
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Expand Up @@ -108,7 +108,7 @@ class StereoCamera {
typedef avt_vimba_camera::AvtVimbaCameraConfig Config;
typedef avt_vimba_camera::AvtVimbaCameraStereoConfig StereoConfig;
typedef dynamic_reconfigure::Server<StereoConfig> ReconfigureServer;
ReconfigureServer reconfigure_server_;
boost::shared_ptr<ReconfigureServer> reconfigure_server_;

// Camera configuration
StereoConfig camera_config_;
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3 changes: 2 additions & 1 deletion launch/mono_camera.launch
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@@ -1,11 +1,12 @@
<launch>
<arg name="guid" default="50-0503343290"/>

<group ns="camera">
<node name="image_proc" pkg="image_proc" type="image_proc"/>
</group>

<node name="camera" pkg="avt_vimba_camera" type="mono_camera_node" output="screen">
<param name="guid" value="50-0503343290"/>
<param name="guid" value="$(arg guid)"/>
<param name="ip" value=""/>
<param name="camera_info_url" value="file://$(find avt_vimba_camera)/calibrations/calibration_50-0503343290.yaml"/>
<param name="frame_id" value="left_optical"/>
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12 changes: 7 additions & 5 deletions launch/stereo_camera_one_node.launch
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Expand Up @@ -2,20 +2,22 @@
<arg name="stereo" default="stereo"/>
<arg name="left_guid" default="50-0503343289"/>
<arg name="right_guid" default="50-0503343290"/>

<node ns="$(arg stereo)" name="stereo_image_proc" pkg="stereo_image_proc" type="stereo_image_proc" output="screen"/>
<arg name="left_camera_info_url" default="file://$(find avt_vimba_camera)/calibrations/calibration_$(arg left_guid).yaml"/>
<arg name="right_camera_info_url" default="file://$(find avt_vimba_camera)/calibrations/calibration_$(arg right_guid).yaml"/>


<node ns="$(arg stereo)" name="stereo_image_proc" pkg="stereo_image_proc" type="stereo_image_proc" output="screen"/>

<node name="$(arg stereo)" pkg="avt_vimba_camera" type="stereo_camera_node" output="screen">

<!-- Static params -->
<param name="left_guid" value="$(arg left_guid)"/>
<param name="right_guid" value="$(arg right_guid)"/>
<param name="left_camera_info_url" value="file://$(find avt_vimba_camera)/calibrations/calibration_$(arg left_guid).yaml"/>
<param name="right_camera_info_url" value="file://$(find avt_vimba_camera)/calibrations/calibration_$(arg right_guid).yaml"/>
<param name="left_camera_info_url" value="$(arg left_camera_info_url)"/>
<param name="right_camera_info_url" value="$(arg right_camera_info_url)"/>

<param name="show_debug_prints" value="false"/>
<!--rosparam command="load" file="$(find avt_vimba_camera)/params.yaml"/-->
</node>

</launch>

14 changes: 9 additions & 5 deletions launch/stereo_camera_two_nodes.launch
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@@ -1,5 +1,10 @@
<launch>

<arg name="left_guid" default="50-0503343289"/>
<arg name="right_guid" default="50-0503343290"/>
<arg name="left_camera_info_url" default="file://$(find avt_vimba_camera)/calibrations/calibration_$(arg left_guid).yaml"/>
<arg name="right_camera_info_url" default="file://$(find avt_vimba_camera)/calibrations/calibration_$(arg right_guid).yaml"/>

<group ns="stereo">
<node name="stereo_image_proc" pkg="stereo_image_proc" type="stereo_image_proc"/>

Expand All @@ -13,9 +18,9 @@


<node name="left" pkg="avt_vimba_camera" type="mono_camera_node" output="screen">
<param name="guid" value="50-0503343289"/>
<param name="guid" value="$(arg left_guid)"/>
<param name="ip_address" value=""/>
<param name="camera_info_url" value="file://$(find avt_vimba_camera)/calibrations/calibration_50-0503343289.yaml"/>
<param name="camera_info_url" value="$(arg left_camera_info_url)"/>
<param name="frame_id" value="left_optical"/>
<param name="trig_timestamp_topic" value=""/>
<param name="trigger_source" value="FixedRate"/>
Expand All @@ -37,9 +42,9 @@
</node>

<node name="right" pkg="avt_vimba_camera" type="mono_camera_node" output="screen">
<param name="guid" value="50-0503343290"/>
<param name="guid" value="$(arg right_guid)"/>
<param name="ip_address" value=""/>
<param name="camera_info_url" value="file://$(find avt_vimba_camera)/calibrations/calibration_50-0503343290.yaml"/>
<param name="camera_info_url" value="$(arg right_camera_info_url)"/>
<param name="frame_id" value="right_optical"/>
<param name="trig_timestamp_topic" value=""/>
<param name="trigger_source" value="Line1"/>
Expand All @@ -60,4 +65,3 @@
</node>
</group>
</launch>

8 changes: 5 additions & 3 deletions src/mono_camera.cpp
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Expand Up @@ -36,7 +36,7 @@

namespace avt_vimba_camera {

MonoCamera::MonoCamera(ros::NodeHandle& nh, ros::NodeHandle& nhp) : nh_(nh), nhp_(nhp), it_(nhp), cam_(ros::this_node::getName()) {
MonoCamera::MonoCamera(ros::NodeHandle& nh, ros::NodeHandle& nhp) : nh_(nh), nhp_(nhp), it_(nh), cam_(ros::this_node::getName()) {
// Prepare node handle for the camera
// TODO use nodelets with getMTNodeHandle()

Expand All @@ -60,8 +60,10 @@ MonoCamera::MonoCamera(ros::NodeHandle& nh, ros::NodeHandle& nhp) : nh_(nh), nhp
// Set camera info manager
info_man_ = boost::shared_ptr<camera_info_manager::CameraInfoManager>(new camera_info_manager::CameraInfoManager(nhp_, frame_id, camera_info_url_));

// Start dynamic_reconfigure & run configure()
reconfigure_server_.setCallback(boost::bind(&avt_vimba_camera::MonoCamera::configure, this, _1, _2));
// Start up the dynamic_reconfigure service, note that this needs to stick around after this function ends
reconfigure_server_ = boost::make_shared <ReconfigureServer>(nhp_);
ReconfigureServer::CallbackType f = boost::bind(&avt_vimba_camera::MonoCamera::configure, this, _1, _2);
reconfigure_server_->setCallback(f);
}

MonoCamera::~MonoCamera(void) {
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18 changes: 10 additions & 8 deletions src/stereo_camera.cpp
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Expand Up @@ -63,8 +63,8 @@ void StereoCamera::run() {
api_.start();

// Set the image publishers before the streaming
left_pub_ = it_.advertiseCamera("/stereo_down/left/image_raw", 1);
right_pub_ = it_.advertiseCamera("/stereo_down/right/image_raw", 1);
left_pub_ = it_.advertiseCamera("left/image_raw", 1);
right_pub_ = it_.advertiseCamera("right/image_raw", 1);

// Set the frame callbacks
left_cam_.setCallback(boost::bind(&avt_vimba_camera::StereoCamera::leftFrameCallback, this, _1));
Expand All @@ -83,14 +83,16 @@ void StereoCamera::run() {
updater_.update();

// Set camera info managers
left_info_man_ = boost::shared_ptr<camera_info_manager::CameraInfoManager>(new camera_info_manager::CameraInfoManager(ros::NodeHandle(nhp_, "left"),"left_optical",left_camera_info_url_));
right_info_man_ = boost::shared_ptr<camera_info_manager::CameraInfoManager>(new camera_info_manager::CameraInfoManager(ros::NodeHandle(nhp_, "right"),"right_optical",right_camera_info_url_));
left_info_man_ = boost::shared_ptr<camera_info_manager::CameraInfoManager>(new camera_info_manager::CameraInfoManager(ros::NodeHandle(nh_, "left"),"left_optical",left_camera_info_url_));
right_info_man_ = boost::shared_ptr<camera_info_manager::CameraInfoManager>(new camera_info_manager::CameraInfoManager(ros::NodeHandle(nh_, "right"),"right_optical",right_camera_info_url_));

pub_left_temp_ = nhp_.advertise<std_msgs::Float64>("left_temp", 1, true);
pub_right_temp_ = nhp_.advertise<std_msgs::Float64>("right_temp", 1, true);
pub_left_temp_ = nh_.advertise<std_msgs::Float64>("left/temp", 1, true);
pub_right_temp_ = nh_.advertise<std_msgs::Float64>("right/temp", 1, true);

// Start dynamic_reconfigure & run configure()
reconfigure_server_.setCallback(boost::bind(&StereoCamera::configure, this, _1, _2));
// Start up the dynamic_reconfigure service, note that this needs to stick around after this function ends
reconfigure_server_ = boost::make_shared <ReconfigureServer>(nhp_);
ReconfigureServer::CallbackType f = boost::bind(&StereoCamera::configure, this, _1, _2);
reconfigure_server_->setCallback(f);

}

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