ROS2 wrapper for irDirectSDK

Installation

Nodes have been tested with the version Dashing Diademata (short form: Dashing)

Reference: https://index.ros.org/doc/ros2/Installation/

Environment setup

$ source /opt/ros/dashing/setup.bash
$ source install/setup.bash

Services

Capitalized service names are no longer valid. Use underscores to define parameters.

Parameters

Passing ROS command line parameters is not supported in Dashing. The version eloquent will introduce this features. Thus, a plain command line parameter has been used for this version. argv[1] must be the path to a valid xml configuration file.

Build

$ colcon build --symlink-install

Execute

… device driver node

$ ros2 run optris_drivers2 optris_imager_node <xml_config_path>

… color conversion node (converts temperature images to false color images)

$ ros2 run optris_drivers2 optris_colorconvert_node

… displaying images

$ ros2 run image_tools showimage -t /thermal_image_view

… switch palette for color conversion

$ ros2 service call palette optris_drivers2/srv/Palette "{palette : 3}"

Image compression

The node optris_colorconvert_node can publish compressed images via image_transport. Be sure to have installed image-transport-plugins:

$ sudo apt install ros-dashing-image-transport-plugins

Bandwidth measurement can be done either raw:

$ ros2 topic bw /thermal_image_view

or compressed:

$ ros2 topic bw /thermal_image_view/compressed

Installing IR Imager Direct SDK

In order to successfully compile this package, the IR Imager Direct SDK for Optris cameras is needed. You can download it from http://ftp.evocortex.com/

If you want to install the latest available version using rosdep, add a rosdep source by executing

sudo sh -c 'echo "yaml https://raw.githubusercontent.com/evocortex/optris_drivers2/master/libirimager.yaml " > /etc/ros/rosdep/sources.list.d/19-libirimager.list'

in a Linux terminal. For further information regarding rosdep, see http://wiki.ros.org/rosdep