Package Summary
Tags | No category tags. |
Version | 0.0.3 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/beamaginelidar/l3cam_ros.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2023-11-27 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Beamagine
Authors
- Beamagine
l3cam_ros
This package is an ROS driver for the L3Cam device manufactured by Beamagine. The driver relies on the library libL3Cam 0.1.14
provided by Beamagine as part of the L3Cam SDK. For more info on the L3Cam check the L3Cam User Manual.
If you are looking for this package for ROS2, go to the l3cam_ros2 package.
This package is supported only on Linux systems and has only been tested with ROS noetic on an Ubuntu 20.04 system.
Installation
Dependencies
First, you will need to install the L3Cam SDK.
Download the package from Beamagine's L3Cam SDK 0.1.14 release repository and install the required package depending on your hardware architecture:
sudo dpkg -i <PACKAGE>
ROS Driver
Clone this repository in your catkin workspace (e.g. catkin_ws) and build:
cd ~/catkin_ws/src && git clone https://github.com/beamaginelidar/l3cam_ros
catkin_make
Operational Advice
MTU Size
You will need to increase the MTU (Maximum Transmission Unit) on the network interface attached to the camera.
You can check what your current MTU setting is by running the following command:
ip a | grep mtu
You should increase the MTU to 9000
to allow jumbo frames. If you use Network Manager, this can be done by opening the network interface settings and editing the "MTU" box under the "Identity" tab.
See the "Linux host configuration" section of the L3Cam User Manual for full details.
Receive Buffer Size
It is also recommended to increase your network default and maximum receive buffer size.
You can check what your current buffer size is:
sudo sysctl 'net.core.rmem_max'
sudo sysctl 'net.core.rmem_default'
Update the buffer size with the following commands:
sudo sh -c "echo 'net.core.rmem_default=268435456' >> /etc/sysctl.conf"
sudo sh -c "echo 'net.core.rmem_max=268435456' >> /etc/sysctl.conf"
sudo sysctl -p
Port usage
libL3Cam
uses the following ports for streaming and communications:
PROTOCOL | PORT | CONFIGURATION |
---|---|---|
TCP | 6000 | Fixed |
UDP | 6050 (LIDAR) | Fixed |
UDP | 6060 (Allied Wide, Polarimetric) | Fixed |
UDP | 6020 (Allied Narrow, RGB) | Fixed |
UDP | 6030 (LWIR) | Fixed |
RTSP | 5040 (LIDAR) | Reconfigurable |
RTSP | 5030 (Allied Wide, Polarimetric) | Reconfigurable |
RTSP | 5010 (Allied Narrow, RGB) | Reconfigurable |
RTSP | 5020 (LWIR) | Reconfigurable |
TCP is used internally by libL3Cam
and is transparent to the user. However, the system host must have the required port available.
Launch
l3cam
To run the l3cam_ros driver, launch the l3cam.launch
file specifying (if wanted) if the stream launch file, the configure launch file, rviz
(for visualization GUI) and rqt_reconfigure
(for dynamic reconfigure GUI) have to be launched too. By default, the values are as follows:
roslaunch l3cam_ros l3cam.launch stream:=true configure:=true rviz:=false rqt_reconfigure:=false
This will launch the l3cam_ros_node, which is the main node that connects to and controls the L3Cam, and the stream_l3cam.launch
and configure_l3cam.launch
files.
More parameters can be set if wanted for the default network and sensors parameters, this is seen in the parameters section. The default parameters specified will be passed to the main node (l3cam_ros_node) and the configure launch file.
stream_l3cam
This launch file launches all the stream nodes for all the sensors and rviz
if specified. Once the main node connects to the L3Cam it will only keep open the stream nodes of the sensors the L3Cam has available, the other ones will shut down automatically.
The stream nodes stream automatically their sensor data to each sensor topic when data is available.
configure_l3cam
This launch file launches all the configure nodes for all the sensors and rqt_reconfigure
if specified. Once the main node connects to the L3Cam it will only keep open the configure nodes of the sensors the L3Cam has available, the other ones will shut down automatically.
The configure nodes function like a dynamic reconfigure interface to change parameters, which is more user friendly. In reality, the parameters are changed with the main node through services, the configure nodes call services when a dynamic reconfigure parameter is changed.
If using rqt_reconfiugre
, the window might show up before the driver is connected to the L3Cam, so you might need to click refresh for it to show the available parameters.
ROS Nodes
l3cam_ros_node
The l3cam_ros_node is the main node that connects to the L3Cam and configures it according to ROS parameters/services. See the parameters and services sections for documentation regarding the various parameters that can be used to configure the L3Cam.
pointcloud_stream
The pointcloud_stream is the node that publishes pointcloud frames if the LiDAR sensor is available. See the topics section for documentation regarding the topics each sensor topic.
polarimetric_stream
The polarimetric_stream is the node that publishes polarimetric or Allied Wide image frames if the polarimetric or the Allied Wide sensor is available. See the topics section for documentation regarding the topics each sensor topic.
rgb_stream
The rgb_stream is the node that publishes RGB or Allied Narrow image frames if the RGB or the Allied Narrow sensor is available. See the topics section for documentation regarding the topics each sensor topic.
thermal_stream
The thermal_stream is the node that publishes thermal image frames if the thermal sensor is available. See the topics section for documentation regarding the topics each sensor topic.
network_configuration
The network_configuration is a node that configures the network parameters by using dynamic reconfigure and the services to communicate with the l3cam_ros_node. See the config file cfg/Network.cfg
or the network parameters section for documentation regarding the various parameters that can be used to configure the network parameters of the L3Cam.
pointcloud_configuration
The pointcloud_configuration is a node that configures the pointcloud parameters (if a LiDAR sensor is available) by using dynamic reconfigure and the services to communicate with the l3cam_ros_node. See the config file cfg/Pointcloud.cfg
or the pointcloud parameters section for documentation regarding the various parameters that can be used to configure the pointcloud parameters of the L3Cam.
polarimetric_camera_configuration
The polarimetric_camera_configuration is a node that configures the polarimetric camera parameters (if a polarimetric sensor is available) by using dynamic reconfigure and the services to communicate with the l3cam_ros_node. See the config file cfg/PolarimetricCamera.cfg
or the polarimetric parameters section for documentation regarding the various parameters that can be used to configure the polarimetric camera parameters of the L3Cam.
rgb_camera_configuration
The rgb_camera_configuration is a node that configures the RGB camera parameters (if an RGB sensor is available) by using dynamic reconfigure and the services to communicate with the l3cam_ros_node. See the config file cfg/RgbCamera.cfg
or the rgb parameters section for documentation regarding the various parameters that can be used to configure the RGB camera parameters of the L3Cam.
thermal_camera_configuration
The thermal_camera_configuration is a node that configures the thermal camera parameters (if a thermal sensor is available) by using dynamic reconfigure and the services to communicate with the l3cam_ros_node. See the config file cfg/ThermalCamera.cfg
or the thermal parameters section for documentation regarding the various parameters that can be used to configure the thermal camera parameters of the L3Cam.
allied_wide_camera_configuration
The allied_wide_camera_configuration is a node that configures the Allied Wide camera parameters (if aan Allied Wide sensor is available) by using dynamic reconfigure and the services to communicate with the l3cam_ros_node. See the config file cfg/AlliedWideCamera.cfg
or the allied wide parameters section for documentation regarding the various parameters that can be used to configure the Allied Wide camera parameters of the L3Cam.
allied_narrow_camera_configuration
The allied_narrow_camera_configuration is a node that configures the Allied Narrow camera parameters (if aan Allied Narrow sensor is available) by using dynamic reconfigure and the services to communicate with the l3cam_ros_node. See the config file cfg/AlliedNarrowCamera.cfg
or the allied narrow parameters section for documentation regarding the various parameters that can be used to configure the Allied Narrow camera parameters of the L3Cam.
Parameters
Default parameters for the L3Cam can be set by editing the l3cam.launch
file or specifying them when launching it:
roslaunch l3cam_ros l3cam.launch <PARAM>:=<VALUE>
Some parameters are enumerate's declared on the libL3Cam
, check the L3Cam User Manual for more info.
Network parameters
Parameter | Type | Default |
---|---|---|
ip_address |
string | 192.168.1.250 |
netmask |
string | 255.255.255.0 |
gateway |
string | 0.0.0.0 |
dhcp |
bool | false |
local_address |
string | NULL |
device_address |
string | NULL |
Pointcloud parameters
Parameter | Type | Default | Range |
---|---|---|---|
pointcloud_color |
enum | 0 | see pointCloudColor
|
pointcloud_color_range_minimum |
int | 0 | [0, 400000] |
pointcloud_color_range_maximum |
int | 400000 | [0, 400000] |
distance_range_minimum |
int | 0 | [0, 400000] |
distance_range_maximum |
int | 400000 | [0, 400000] |
auto_bias |
bool | true | |
bias_value_right |
int | 1580 | [700, 3500] |
bias_value_left |
int | 1380 | [700, 3500] |
Polarimetric parameters
Parameter | Type | Default | Range |
---|---|---|---|
polarimetric_camera_brightness |
int | 127 | [0, 255] |
polarimetric_camera_black_level |
double | 6.0 | [0, 12.5] |
polarimetric_camera_auto_gain |
bool | true | |
polarimetric_camera_auto_gain_range_minimum |
double | 0.0 | [0, 48] |
polarimetric_camera_auto_gain_range_maximum |
double | 48.0 | [0, 48] |
polarimetric_camera_gain |
double | 24.0 | [0, 48] |
polarimetric_camera_auto_exposure_time |
bool | true | |
polarimetric_camera_auto_exposure_time_range_minimum |
double | 33.456 | [33.456, 1000000] |
polarimetric_camera_auto_exposure_time_range_maximum |
double | 1000000.0 | [33.456, 1000000] |
polarimetric_camera_exposure_time |
double | 500000.0 | [33.456, 1000000] |
RGB parameters
Parameter | Type | Default | Range |
---|---|---|---|
rgb_camera_brightness |
int | 0 | [-15, 15] |
rgb_camera_contrast |
int | 10 | [0, 30] |
rgb_camera_saturation |
int | 16 | [0, 60] |
rgb_camera_sharpness |
int | 16 | [0, 127] |
rgb_camera_gamma |
int | 220 | [40, 500] |
rgb_camera_gain |
int | 0 | [0, 63] |
rgb_camera_auto_white_balance |
bool | true | |
rgb_camera_white_balance |
int | 5000 | [1000, 10000] |
rgb_camera_auto_exposure_time |
bool | true | |
rgb_camera_exposure_time |
int | 156 | [1, 10000] |
rgb_camera_resolution |
enum | 3 | see econResolutions
|
rgb_camera_framerate |
int | 10 | [1, 16] |
Thermal parameters
Parameter | Type | Default | Range |
---|---|---|---|
thermal_camera_colormap |
enum | 1 | see thermalTypes
|
thermal_camera_temperature_filter |
bool | false | |
thermal_camera_temperature_filter_min |
int | 0 | [-40, 200] |
thermal_camera_temperature_filter_max |
int | 50 | [-40, 200] |
Allied Wide parameters
Parameter | Type | Default | Range |
---|---|---|---|
allied_wide_camera_black_level |
double | 0 | [0, 4095] |
allied_wide_camera_exposure_time |
double | 4992.32 | [63, 10000000] |
allied_wide_camera_auto_exposure_time |
bool | false | |
allied_wide_camera_auto_exposure_time_range_min |
double | 87.596 | [63.03, 8999990] |
allied_wide_camera_auto_exposure_time_range_max |
double | 87.596 | [87.596, 10000000] |
allied_wide_camera_gain |
double | 0 | [0, 48] |
allied_wide_camera_auto_gain |
bool | false | |
allied_wide_camera_auto_gain_range_min |
double | 0 | [0, 48] |
allied_wide_camera_auto_gain_range_max |
double | 48 | [0, 48] |
allied_wide_camera_gamma |
double | 1 | [0.4, 2.4] |
allied_wide_camera_saturation |
double | 1 | [0, 2] |
allied_wide_camera_sharpness |
double | 0 | [-12, 12] |
allied_wide_camera_hue |
double | 0 | [-40, 40] |
allied_wide_camera_intensity_auto_precedence |
enum | 0 | 0(MinimizeNoise) or 1(MinimizeBlur) |
allied_wide_camera_auto_white_balance |
bool | false | |
allied_wide_camera_balance_ratio_selector |
enum | 0 | 0(Red) or 1(Blue) |
allied_wide_camera_balance_ratio |
double | 2.35498 | [0, 8] |
allied_wide_camera_balance_white_auto_rate |
double | 100 | [0, 100] |
allied_wide_camera_balance_white_auto_tolerance |
double | 5 | [0, 50] |
allied_wide_camera_auto_mode_region_height |
int | 1028 | [0, 1028] |
allied_wide_camera_auto_mode_region_width |
int | 1232 | [0, 1232] |
allied_wide_camera_intensity_controller_region |
enum | 0 | 0(AutoMode) or 4(FullImage) |
allied_wide_camera_intensity_controller_target |
double | 50 | [10, 90] |
allied_wide_camera_max_driver_buffers_count |
int | 64 | [1, 4096] |
Allied Narrow parameters
Parameter | Type | Default | Range |
---|---|---|---|
allied_narrow_camera_black_level |
double | 0 | [0, 4095] |
allied_narrow_camera_exposure_time |
double | 4992.32 | [63, 10000000] |
allied_narrow_camera_auto_exposure_time |
bool | false | |
allied_narrow_camera_auto_exposure_time_range_min |
double | 87.596 | [63.03, 8999990] |
allied_narrow_camera_auto_exposure_time_range_max |
double | 87.596 | [87.596, 10000000] |
allied_narrow_camera_gain |
double | 0 | [0, 48] |
allied_narrow_camera_auto_gain |
bool | false | |
allied_narrow_camera_auto_gain_range_min |
double | 0 | [0, 48] |
allied_narrow_camera_auto_gain_range_max |
double | 48 | [0, 48] |
allied_narrow_camera_gamma |
double | 1 | [0.4, 2.4] |
allied_narrow_camera_saturation |
double | 1 | [0, 2] |
allied_narrow_camera_sharpness |
double | 0 | [-12, 12] |
allied_narrow_camera_hue |
double | 0 | [-40, 40] |
allied_narrow_camera_intensity_auto_precedence |
enum | 0 | 0(MinimizeNoise) or 1(MinimizeBlur) |
allied_narrow_camera_auto_white_balance |
bool | false | |
allied_narrow_camera_balance_ratio_selector |
enum | 0 | 0(Red) or 1(Blue) |
allied_narrow_camera_balance_ratio |
double | 2.35498 | [0, 8] |
allied_narrow_camera_balance_white_auto_rate |
double | 100 | [0, 100] |
allied_narrow_camera_balance_white_auto_tolerance |
double | 5 | [0, 50] |
allied_narrow_camera_auto_mode_region_height |
int | 2056 | [0, 2056] |
allied_narrow_camera_auto_mode_region_width |
int | 2464 | [0, 2464] |
allied_narrow_camera_intensity_controller_region |
enum | 0 | 0(AutoMode) or 4(FullImage) |
allied_narrow_camera_intensity_controller_target |
double | 50 | [10, 90] |
allied_narrow_camera_max_driver_buffers_count |
int | 64 | [1, 4096] |
Services
Once the nodes are launched, the parameters can be changed through services. While streaming, some parameters cannot be changed, and the driver starts streaming when it connects to the L3Cam.
Only the changeable parameters while streaming will appear on the dynamic reconfigure of the configure nodes. Even though all the parameters are available, if a non changeable parameter is attempted to be changed, the service will return error.
The ranges shown in the parameters section also apply to the services as the same parameters are being changed.
Service | Args | Return |
---|---|---|
/get_version |
- | string version |
/initialize |
string local_address, string device_address | int error |
/terminate |
- | int error |
/find_devices |
- | int error, int num_devices |
/get_local_server_address |
- | string local_ip_address |
/get_device_status |
- | int error, int system_status |
/get_sensors_available |
- | int error, Sensor[] sensors, int num_sensors |
/get_network_configuration |
- | int error, string ip_address, string netmask, string gateway |
/change_network_configuration |
string ip_address, string netmask, string gateway, bool enable_dhcp | int error |
/power_off_device |
- | int error |
/start_device |
- | int error |
/stop_device |
- | int error |
/start_stream |
- | int error |
/stop_stream |
- | int error |
/change_pointcloud_color |
int visualization_color | int error |
/change_pointcloud_color_range |
int max_value, int min_value | int error |
/change_distance_range |
int max_value, int min_value | int error |
/enable_auto_bias |
bool enabled | - |
/change_bias_value |
int index, int bias | - |
/set_polarimetric_camera_default_settings |
- | int error |
/change_polarimetric_camera_brightness |
int brightness | int error |
/change_polarimetric_camera_black_level |
float black_level | int error |
/enable_polarimetric_camera_auto_gain |
bool enabled | int error |
/change_polarimetric_camera_auto_gain_range |
float min_gain, float max_gain | int error |
/change_polarimetric_camera_gain |
float gain | int error |
/enable_polarimetric_camera_auto_exposure_time |
bool enabled | int error |
/change_polarimetric_camera_exposure_time |
float exposure_time | int error |
/change_polarimetric_camera_auto_exposure_time_range |
float min_exposure, float max_exposure | int error |
/set_rgb_camera_default_settings |
- | int error |
/change_rgb_camera_brightness |
int brightness | int error |
/change_rgb_camera_contrast |
int contrast | int error |
/change_rgb_camera_saturation |
int saturation | int error |
/change_rgb_camera_sharpness |
int sharpness | int error |
/change_rgb_camera_gamma |
int gamma | int error |
/change_rgb_camera_gain |
int gain | int error |
/change_rgb_camera_white_balance |
int white_balance | int error |
/enable_rgb_camera_auto_exposure_time |
bool enabled | int error |
/change_rgb_camera_exposure_time |
int exposure_time | int error |
/enable_rgb_camera_auto_white_balance |
bool enabled | int error |
/change_thermal_camera_colormap |
int colormap | int error |
/change_thermal_camera_temperature_filter |
float min_temperature, float max_temperature | int error |
/enable_thermal_camera_temperature_filter |
bool enabled | int error |
/change_allied_camera_exposure_time |
int allied_type, float exposure_time | int error |
/enable_allied_camera_auto_exposure_time |
int allied_type, bool enabled | int error |
/change_allied_camera_auto_exposure_time_range |
int allied_type, float auto_exposure_time_range_min, float auto_exposure_time_range_max | int error |
/change_allied_camera_gain |
int allied_type, float gain | int error |
/enable_allied_camera_auto_gain |
int allied_type, bool enabled | int error |
/change_allied_camera_auto_gain_range |
int allied_type, float auto_gain_range_min, float auto_gain_range_max | int error |
/change_allied_camera_gamma |
int allied_type, float gamma | int error |
/change_allied_camera_saturation |
int allied_type, float saturation | int error |
/change_allied_camera_hue |
int allied_type, float hue | int error |
/change_allied_camera_intensity_auto_precedence |
int allied_type, int intensity_auto_precedence | int error |
/enable_allied_camera_auto_white_balance |
int allied_type, bool enabled | int error |
/change_allied_camera_balance_ratio_selector |
int allied_type, int white_balance_ratio_selector | int error |
/change_allied_camera_balance_ratio |
int allied_type, float balance_ratio | int error |
/change_allied_camera_balance_white_auto_rate |
int allied_type, float white_balance_auto_rate | int error |
/change_allied_camera_balance_white_auto_tolerance |
int allied_type, float white_balance_auto_tolerance | int error |
/change_allied_camera_intensity_controller_region |
int allied_type, int intensity_controller_region | int error |
/change_allied_camera_intensity_controller_target |
int allied_type, float intensity_controller_target | int error |
get_allied_camera_black_level |
int allied_type | int error, float black_level |
get_allied_camera_exposure_time |
int allied_type | int error, float exposure_time |
get_allied_camera_auto_exposure_time |
int allied_type | int error, bool enabled |
get_allied_camera_auto_exposure_time_range |
int allied_type | int error, float auto_exposure_time_range |
get_allied_camera_gain |
int allied_type | int error, float gain |
get_allied_camera_auto_gain |
int allied_type | int error, bool enabled |
get_allied_camera_auto_gain_range |
int allied_type | int error, float min, float max |
get_allied_camera_gamma |
int allied_type | int error, float gamma |
get_allied_camera_saturation |
int allied_type | int error, float saturation |
get_allied_camera_sharpness |
int allied_type | int error, int sharpness |
get_allied_camera_hue |
int allied_type | int error, float hue |
get_allied_camera_intensity_auto_precedence |
int allied_type | int error, int mode |
get_allied_camera_auto_white_balance |
int allied_type | int error, bool enabled |
get_allied_camera_balance_ratio_selector |
int allied_type | int error, int ratio_selector |
get_allied_camera_balance_ratio |
int allied_type | int error, float balance_ratio |
get_allied_camera_balance_white_auto_rate |
int allied_type | int error, float balance_white_auto_rate |
get_allied_camera_balance_white_auto_tolerance |
int allied_type | int error, float balance_white_auto_tolerance |
get_allied_camera_auto_mode_region |
int allied_type | int error, int height, int width |
get_allied_camera_intensity_controller_region |
int allied_type | int error, int mode |
get_allied_camera_intensity_controller_target |
int allied_type | int error, float intensity_controller_target |
get_allied_camera_max_driver_buffers_count |
int allied_type | int error, int max_driver_buffers_count |
Note: - The arg index in the /change_bias_value service must be 1 por right or 2 for left. Any other value will return out of range error. - The arg allied_type must be 1 for Wide or 2 for Narrow. Any other value will return out of range error.
Sensor msg
On /get_sensors_available
a custom message is returned with the following structure:
Message | Data |
---|---|
Sensor | int32 protocol, int32 sensor_type, uint8 sensor_status, uint8 image_type, bool perception_enabled |
Being protocol a number contained in the enum streamingProtocols
and sensor_type a number contained in the enum sensorTypes
.
Topics
All sensors stream their data to each topic:
Sensor | Topic | Data type |
---|---|---|
Pointcloud | /PC2_lidar |
sensor_msgs::PointCloud2 |
Polarimetric | /img_polarimetric |
sensor_msgs::Image |
RGB | /img_rgb |
sensor_msgs::Image |
Thermal | /img_thermal |
sensor_msgs::Image |
Allied Wide | /img_wide |
sensor_msgs::Image |
Allied Narrow | /img_narrow |
sensor_msgs::Image |
Changelog for package l3cam_ros
0.0.3 (2023-03-23) -----------* Added allied Wide and Narrow cameras * Implemented default parameters * Bug fixes * Disable dynamic network configuration * Contributors: Adri
Wiki Tutorials
Source Tutorials
Package Dependencies
Deps | Name | |
---|---|---|
2 | roscpp | |
2 | rospy | |
2 | std_msgs | |
3 | cv_bridge | |
2 | sensor_msgs | |
1 | message_generation | |
1 | dynamic_reconfigure | |
1 | catkin | |
1 | message_runtime |
System Dependencies
Dependant Packages
Launch files
- launch/stream_l3cam.launch
-
- rviz [default: false]
- launch/configure_l3cam.launch
-
- rqt_reconfigure [default: false]
- network_conf [default: false]
- ip_address [default: 192.168.1.250]
- netmask [default: 255.255.255.0]
- gateway [default: 0.0.0.0]
- dhcp [default: true]
- pointcloud_color [default: 0]
- pointcloud_color_range_minimum [default: 0]
- pointcloud_color_range_maximum [default: 400000]
- distance_range_minimum [default: 0]
- distance_range_maximum [default: 400000]
- polarimetric_camera_brightness [default: 127]
- polarimetric_camera_black_level [default: 6.0]
- polarimetric_camera_auto_gain [default: true]
- polarimetric_camera_auto_gain_range_minimum [default: 0.0]
- polarimetric_camera_auto_gain_range_maximum [default: 48.0]
- polarimetric_camera_gain [default: 24.0]
- polarimetric_camera_auto_exposure_time [default: true]
- polarimetric_camera_auto_exposure_time_range_minimum [default: 33.456]
- polarimetric_camera_auto_exposure_time_range_maximum [default: 66470.6]
- polarimetric_camera_exposure_time [default: 500000.0]
- rgb_camera_brightness [default: 0]
- rgb_camera_contrast [default: 10]
- rgb_camera_saturation [default: 16]
- rgb_camera_sharpness [default: 16]
- rgb_camera_gamma [default: 220]
- rgb_camera_gain [default: 0]
- rgb_camera_auto_white_balance [default: true]
- rgb_camera_white_balance [default: 5000]
- rgb_camera_auto_exposure_time [default: true]
- rgb_camera_exposure_time [default: 156]
- thermal_camera_colormap [default: 1]
- thermal_camera_temperature_filter [default: false]
- thermal_camera_temperature_filter_min [default: 0]
- thermal_camera_temperature_filter_max [default: 50]
- allied_wide_camera_exposure_time [default: 4992.32]
- allied_wide_camera_auto_exposure_time [default: false]
- allied_wide_camera_auto_exposure_time_range_min [default: 87.596]
- allied_wide_camera_auto_exposure_time_range_max [default: 87.596]
- allied_wide_camera_gain [default: 0]
- allied_wide_camera_auto_gain [default: false]
- allied_wide_camera_auto_gain_range_min [default: 0]
- allied_wide_camera_auto_gain_range_max [default: 48]
- allied_wide_camera_gamma [default: 1]
- allied_wide_camera_saturation [default: 1]
- allied_wide_camera_hue [default: 0]
- allied_wide_camera_intensity_auto_precedence [default: 0]
- allied_wide_camera_auto_white_balance [default: false]
- allied_wide_camera_balance_ratio_selector [default: 0]
- allied_wide_camera_balance_ratio [default: 2.35498]
- allied_wide_camera_balance_white_auto_rate [default: 100]
- allied_wide_camera_balance_white_auto_tolerance [default: 5]
- allied_wide_camera_intensity_controller_region [default: 0]
- allied_wide_camera_intensity_controller_target [default: 50]
- allied_narrow_camera_exposure_time [default: 4992.32]
- allied_narrow_camera_auto_exposure_time [default: false]
- allied_narrow_camera_auto_exposure_time_range_min [default: 87.596]
- allied_narrow_camera_auto_exposure_time_range_max [default: 87.596]
- allied_narrow_camera_gain [default: 0]
- allied_narrow_camera_auto_gain [default: false]
- allied_narrow_camera_auto_gain_range_min [default: 0]
- allied_narrow_camera_auto_gain_range_max [default: 48]
- allied_narrow_camera_gamma [default: 1]
- allied_narrow_camera_saturation [default: 1]
- allied_narrow_camera_hue [default: 0]
- allied_narrow_camera_intensity_auto_precedence [default: 0]
- allied_narrow_camera_auto_white_balance [default: false]
- allied_narrow_camera_balance_ratio_selector [default: 0]
- allied_narrow_camera_balance_ratio [default: 2.35498]
- allied_narrow_camera_balance_white_auto_rate [default: 100]
- allied_narrow_camera_balance_white_auto_tolerance [default: 5]
- allied_narrow_camera_intensity_controller_region [default: 0]
- allied_narrow_camera_intensity_controller_target [default: 50]
- launch/l3cam.launch
-
- stream [default: true]
- rviz [default: false]
- configure [default: true]
- rqt_reconfigure [default: false]
- ip_address [default: 192.168.1.250]
- netmask [default: 255.255.255.0]
- gateway [default: 0.0.0.0]
- dhcp [default: false]
- local_address [default: ]
- device_address [default: ]
- pointcloud_color [default: 0]
- pointcloud_color_range_minimum [default: 0]
- pointcloud_color_range_maximum [default: 400000]
- distance_range_minimum [default: 0]
- distance_range_maximum [default: 400000]
- auto_bias [default: true]
- bias_value_right [default: 1580]
- bias_value_left [default: 1380]
- polarimetric_camera_brightness [default: 127]
- polarimetric_camera_black_level [default: 6.0]
- polarimetric_camera_auto_gain [default: true]
- polarimetric_camera_auto_gain_range_minimum [default: 0.0]
- polarimetric_camera_auto_gain_range_maximum [default: 48.0]
- polarimetric_camera_gain [default: 24.0]
- polarimetric_camera_auto_exposure_time [default: true]
- polarimetric_camera_auto_exposure_time_range_minimum [default: 33.456]
- polarimetric_camera_auto_exposure_time_range_maximum [default: 66470.6]
- polarimetric_camera_exposure_time [default: 500000.0]
- rgb_camera_brightness [default: 0]
- rgb_camera_contrast [default: 10]
- rgb_camera_saturation [default: 16]
- rgb_camera_sharpness [default: 16]
- rgb_camera_gamma [default: 220]
- rgb_camera_gain [default: 0]
- rgb_camera_auto_white_balance [default: true]
- rgb_camera_white_balance [default: 5000]
- rgb_camera_auto_exposure_time [default: true]
- rgb_camera_exposure_time [default: 156]
- rgb_camera_resolution [default: 3]
- rgb_camera_framerate [default: 10]
- thermal_camera_colormap [default: 1]
- thermal_camera_temperature_filter [default: false]
- thermal_camera_temperature_filter_min [default: 0]
- thermal_camera_temperature_filter_max [default: 50]
- allied_wide_camera_black_level [default: 0]
- allied_wide_camera_exposure_time [default: 4992.32]
- allied_wide_camera_auto_exposure_time [default: false]
- allied_wide_camera_auto_exposure_time_range_min [default: 87.596]
- allied_wide_camera_auto_exposure_time_range_max [default: 87.596]
- allied_wide_camera_gain [default: 0]
- allied_wide_camera_auto_gain [default: false]
- allied_wide_camera_auto_gain_range_min [default: 0]
- allied_wide_camera_auto_gain_range_max [default: 48]
- allied_wide_camera_gamma [default: 1]
- allied_wide_camera_saturation [default: 1]
- allied_wide_camera_sharpness [default: 0]
- allied_wide_camera_hue [default: 0]
- allied_wide_camera_intensity_auto_precedence [default: 0]
- allied_wide_camera_auto_white_balance [default: false]
- allied_wide_camera_balance_ratio_selector [default: 0]
- allied_wide_camera_balance_ratio [default: 2.35498]
- allied_wide_camera_balance_white_auto_rate [default: 100]
- allied_wide_camera_balance_white_auto_tolerance [default: 5]
- allied_wide_camera_auto_mode_region_height [default: 1028]
- allied_wide_camera_auto_mode_region_width [default: 1232]
- allied_wide_camera_intensity_controller_region [default: 0]
- allied_wide_camera_intensity_controller_target [default: 50]
- allied_wide_camera_max_driver_buffers_count [default: 64]
- allied_narrow_camera_black_level [default: 0]
- allied_narrow_camera_exposure_time [default: 4992.32]
- allied_narrow_camera_auto_exposure_time [default: false]
- allied_narrow_camera_auto_exposure_time_range_min [default: 87.596]
- allied_narrow_camera_auto_exposure_time_range_max [default: 87.596]
- allied_narrow_camera_gain [default: 0]
- allied_narrow_camera_auto_gain [default: false]
- allied_narrow_camera_auto_gain_range_min [default: 0]
- allied_narrow_camera_auto_gain_range_max [default: 48]
- allied_narrow_camera_gamma [default: 1]
- allied_narrow_camera_saturation [default: 1]
- allied_narrow_camera_sharpness [default: 0]
- allied_narrow_camera_hue [default: 0]
- allied_narrow_camera_intensity_auto_precedence [default: 0]
- allied_narrow_camera_auto_white_balance [default: false]
- allied_narrow_camera_balance_ratio_selector [default: 0]
- allied_narrow_camera_balance_ratio [default: 2.35498]
- allied_narrow_camera_balance_white_auto_rate [default: 100]
- allied_narrow_camera_balance_white_auto_tolerance [default: 5]
- allied_narrow_camera_auto_mode_region_height [default: 2056]
- allied_narrow_camera_auto_mode_region_width [default: 2464]
- allied_narrow_camera_intensity_controller_region [default: 0]
- allied_narrow_camera_intensity_controller_target [default: 50]
- allied_narrow_camera_max_driver_buffers_count [default: 64]
Messages
Services
- srv/ChangeBiasValue.srv
- srv/FindDevices.srv
- srv/ChangePolarimetricCameraExposureTime.srv
- srv/Initialize.srv
- srv/ChangeRgbCameraContrast.srv
- srv/GetAlliedCameraSharpness.srv
- srv/ChangeAlliedCameraBalanceRatioSelector.srv
- srv/GetDeviceStatus.srv
- srv/ChangePolarimetricCameraBrightness.srv
- srv/EnableRgbCameraAutoExposureTime.srv
- srv/GetAlliedCameraGain.srv
- srv/GetLocalServerAddress.srv
- srv/GetAlliedCameraBlackLevel.srv
- srv/GetAlliedCameraHue.srv
- srv/ChangeRgbCameraBrightness.srv
- srv/ChangePointcloudColor.srv
- srv/GetAlliedCameraAutoGain.srv
- srv/EnableAlliedCameraAutoGain.srv
- srv/StartStream.srv
- srv/ChangeRgbCameraWhiteBalance.srv
- srv/GetAlliedCameraAutoExposureTimeRange.srv
- srv/GetAlliedCameraAutoGainRange.srv
- srv/SetPolarimetricCameraDefaultSettings.srv
- srv/GetAlliedCameraAutoModeRegion.srv
- srv/EnableAutoBias.srv
- srv/ChangeRgbCameraSaturation.srv
- srv/EnablePolarimetricCameraAutoExposureTime.srv
- srv/GetAlliedCameraIntensityControllerTarget.srv
- srv/StopDevice.srv
- srv/GetAlliedCameraBalanceWhiteAutoTolerance.srv
- srv/ChangeAlliedCameraAutoExposureTimeRange.srv
- srv/GetAlliedCameraExposureTime.srv
- srv/StopStream.srv
- srv/ChangeAlliedCameraBalanceWhiteAutoRate.srv
- srv/ChangeAlliedCameraGain.srv
- srv/ChangeAlliedCameraAutoGainRange.srv
- srv/PowerOffDevice.srv
- srv/ChangeAlliedCameraIntensityControllerRegion.srv
- srv/ChangeNetworkConfiguration.srv
- srv/ChangePolarimetricCameraAutoGainRange.srv
- srv/GetAlliedCameraBalanceRatioSelector.srv
- srv/ChangeRgbCameraSharpness.srv
- srv/GetAlliedCameraAutoExposureTime.srv
- srv/StartDevice.srv
- srv/ChangeRgbCameraExposureTime.srv
- srv/EnableAlliedCameraAutoExposureTime.srv
- srv/GetAlliedCameraBalanceRatio.srv
- srv/ChangeRgbCameraGain.srv
- srv/GetAlliedCameraSaturation.srv
- srv/ChangeThermalCameraTemperatureFilter.srv
- srv/ChangeAlliedCameraSaturation.srv
- srv/EnableAlliedCameraAutoWhiteBalance.srv
- srv/ChangePointcloudColorRange.srv
- srv/GetAlliedCameraBalanceWhiteAutoRate.srv
- srv/ChangeAlliedCameraBalanceWhiteAutoTolerance.srv
- srv/EnablePolarimetricCameraAutoGain.srv
- srv/GetSensorsAvailable.srv
- srv/GetNetworkConfiguration.srv
- srv/ChangeAlliedCameraBalanceRatio.srv
- srv/GetAlliedCameraGamma.srv
- srv/EnableThermalCameraTemperatureFilter.srv
- srv/ChangePolarimetricCameraAutoExposureTimeRange.srv
- srv/GetAlliedCameraMaxDriverBuffersCount.srv
- srv/GetAlliedCameraAutoWhiteBalance.srv
- srv/ChangeAlliedCameraExposureTime.srv
- srv/GetVersion.srv
- srv/ChangeAlliedCameraIntensityControllerTarget.srv
- srv/ChangeRgbCameraGamma.srv
- srv/SetRgbCameraDefaultSettings.srv
- srv/ChangeAlliedCameraGamma.srv
- srv/EnableRgbCameraAutoWhiteBalance.srv
- srv/ChangePolarimetricCameraBlackLevel.srv
- srv/ChangeThermalCameraColormap.srv
- srv/ChangeAlliedCameraIntensityAutoPrecedence.srv
- srv/ChangeAlliedCameraHue.srv
- srv/GetAlliedCameraIntensityControllerRegion.srv
- srv/ChangeDistanceRange.srv
- srv/ChangePolarimetricCameraGain.srv
- srv/Terminate.srv
- srv/GetAlliedCameraIntensityAutoPrecedence.srv