![]() |
rc_genicam_driver package from rc_genicam_driver reporc_genicam_driver |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.3.1 |
License | BSD |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/roboception/rc_genicam_driver_ros2.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-13 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Felix Ruess
- Heiko Hirschmueller
Authors
rc_genicam_driver for ROS2
ROS2 driver to configure a Roboception rc_visard or rc_cube and receive images.
Please also consult the manuals for more details:
- https://doc.rc-visard.com
- https://doc.rc-cube.com
GenICam GenTL Transport Layer
The rc_genicam_driver uses rc_genicam_api
for interfacing with the rc_visard or rc_cube via GenICam/GigE Vision and requires a
transport layer called a GenTL producer (shared library with the suffix .cti
).
For convenience rc_genicam_api comes with producers from Baumer for common
architectures.
The path to the producer can be set with the GENICAM_GENTL64_PATH
environment variable (or GENICAM_GENTL32_PATH
for 32 bit systems).
If not set, rc_genicam_driver will fall back to searching for the Baumer
producer where rc_genicam_api is installed.
If the producer .cti can’t be found and you will get an error message like
[ERROR] [1512568083.512790905]: No transport layers found in path /opt/ros/melodic/lib/rc_genicam_api
In this case you need either need to actually install rc_genicam_api properly or set the environment variable when running it. E.g. export:
GENICAM_GENTL64_PATH=/path/to/rc_genicam_api/baumer/Ubuntu-18.04/x86_64
Configuration
Read-only parameters
Parameters to be set to the ROS param server before run-time.
-
device
: The ID of the device, e.g. Roboception rc_visard sensor or rc_cube. This can be either the-
serial number, e.g.
02912345
IMPORTANT: preceed with a colon (
:02912345
) when passing this on the commandline or setting it via rosparam (see https://github.com/ros/ros_comm/issues/1339). This is not neccessary when specifying it as a string in a launch file. -
user defined name (factory default is the name of the rc_visard’s model), must be unique among all reachable sensors
-
internal ID, which is generated by the used GenTL producer. Often, this ID contains the MAC address in some way. This ID can change with the implementation of the transport layer.
See https://github.com/roboception/rc_genicam_api#device-id for more details. By default this parameter is set to
*
, which works with if only one compatible device can be found on the network. -
At runtime changeable parameters
These parameters can be changed during runtime. Parameters will not be declared if they are not available on the device. This can happen if the device firmware is old and does not offer the parameter.
-
ptp_enabled
: Enable PTP slave (PrecisionTimeProtocol, IEEE1588) -
camera_fps
: Frames per second that are published by this node. Publishing frames will be slowed down depending on this setting. Setting it higher than the real framerate of the specific device has no effect. -
camera_exp_auto
: This parameter has been removed. Please use camera_exp_control instead. -
camera_exp_control
: Expose control mode which can be “Manual” for setting exposure time and gain via camera_exp_value and camera_gain_value, “Auto” for auto exposure or “HDR” for high dynamic range mode. Default: Auto. -
camera_exp_auto_mode
Auto-exposure mode which can be “Normal”, “Out1High” or “AdaptiveOut1”. Default: Normal. -
camera_exp_max
: Maximum exposure time in seconds if exp_auto is true. -
camera_exp_auto_average_max
: The auto exposure tries to set the exposure time and gain factor such that the average image intensity is between an upper and a lower bound. This parameter defines the upper bound. It can be reached if there is no saturation (e.g. due to reflections). -
camera_exp_auto_average_min
: Seecamera_exp_auto_average_max
. This parameter defines the lower bound. The average image intensity can be reduced to this value to reduce or avoid saturation (e.g. due to reflections).
File truncated at 100 lines see the full file
0.3.1 (2024-06-07)
- Fix: parameter 'camera_wb_red' cannot be set
- Fixed limiting float parameters to avoid errors due to rounding
- Fix: don't treat unknown parameters as error in the parameter callback (e.g. for new enable_pub_plugins param injected by image_transport)
- Fix: Declaring parameters dynamic so that undeclaring works on cleanup
0.3.0 (2023-03-10)
- Replaced parameter camera_exp_auto by camera_exp_control and camera_exp_auto_mode for consistency
- Change parameters camera_exp_max and camera_exp_value so unit seconds for consistency
- Added Gamma parameter
- only publish high/low if the publisher exists
- fix if iocontrol is not available
0.2.1 (2021-11-15)
- Add exposure_adapt_timeout parameter
- warn instead of info if parameter can't be set
- fix line_source and add more extra_data to CameraParam
0.2.0 (2021-08-02)
For supporting rc_sgm_producer:
- Extend color format to RGB8 for ros foxy
- Using parameter PtpEnable instead of deprecated parameter GevIEEE1588
0.1.4 (2021-02-11)
- Accept devices from vendor Roboception or if model is rc_visard or rc_cube
0.1.3 (2021-02-02)
- Use image_transport.hpp to get rid of a warning and hence drop eloquent support
- Use C-strings for RCLCPP macros to support rolling
0.1.2 (2021-01-29)
- fix linking problems
0.1.1 (2021-01-18)
- fix typo in package xml
0.1.0 (2021-01-18)
- initial release
Package Dependencies
Deps | Name |
---|---|
ament_cmake | |
ament_lint_auto | |
ament_cmake_cppcheck | |
ament_cmake_xmllint | |
rclcpp | |
rclcpp_components | |
sensor_msgs | |
stereo_msgs | |
diagnostic_updater | |
image_transport | |
rc_common_msgs | |
rc_genicam_api |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged rc_genicam_driver at Robotics Stack Exchange
![]() |
rc_genicam_driver package from rc_genicam_driver reporc_genicam_driver |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.3.1 |
License | BSD |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/roboception/rc_genicam_driver_ros2.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-13 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Felix Ruess
- Heiko Hirschmueller
Authors
rc_genicam_driver for ROS2
ROS2 driver to configure a Roboception rc_visard or rc_cube and receive images.
Please also consult the manuals for more details:
- https://doc.rc-visard.com
- https://doc.rc-cube.com
GenICam GenTL Transport Layer
The rc_genicam_driver uses rc_genicam_api
for interfacing with the rc_visard or rc_cube via GenICam/GigE Vision and requires a
transport layer called a GenTL producer (shared library with the suffix .cti
).
For convenience rc_genicam_api comes with producers from Baumer for common
architectures.
The path to the producer can be set with the GENICAM_GENTL64_PATH
environment variable (or GENICAM_GENTL32_PATH
for 32 bit systems).
If not set, rc_genicam_driver will fall back to searching for the Baumer
producer where rc_genicam_api is installed.
If the producer .cti can’t be found and you will get an error message like
[ERROR] [1512568083.512790905]: No transport layers found in path /opt/ros/melodic/lib/rc_genicam_api
In this case you need either need to actually install rc_genicam_api properly or set the environment variable when running it. E.g. export:
GENICAM_GENTL64_PATH=/path/to/rc_genicam_api/baumer/Ubuntu-18.04/x86_64
Configuration
Read-only parameters
Parameters to be set to the ROS param server before run-time.
-
device
: The ID of the device, e.g. Roboception rc_visard sensor or rc_cube. This can be either the-
serial number, e.g.
02912345
IMPORTANT: preceed with a colon (
:02912345
) when passing this on the commandline or setting it via rosparam (see https://github.com/ros/ros_comm/issues/1339). This is not neccessary when specifying it as a string in a launch file. -
user defined name (factory default is the name of the rc_visard’s model), must be unique among all reachable sensors
-
internal ID, which is generated by the used GenTL producer. Often, this ID contains the MAC address in some way. This ID can change with the implementation of the transport layer.
See https://github.com/roboception/rc_genicam_api#device-id for more details. By default this parameter is set to
*
, which works with if only one compatible device can be found on the network. -
At runtime changeable parameters
These parameters can be changed during runtime. Parameters will not be declared if they are not available on the device. This can happen if the device firmware is old and does not offer the parameter.
-
ptp_enabled
: Enable PTP slave (PrecisionTimeProtocol, IEEE1588) -
camera_fps
: Frames per second that are published by this node. Publishing frames will be slowed down depending on this setting. Setting it higher than the real framerate of the specific device has no effect. -
camera_exp_auto
: This parameter has been removed. Please use camera_exp_control instead. -
camera_exp_control
: Expose control mode which can be “Manual” for setting exposure time and gain via camera_exp_value and camera_gain_value, “Auto” for auto exposure or “HDR” for high dynamic range mode. Default: Auto. -
camera_exp_auto_mode
Auto-exposure mode which can be “Normal”, “Out1High” or “AdaptiveOut1”. Default: Normal. -
camera_exp_max
: Maximum exposure time in seconds if exp_auto is true. -
camera_exp_auto_average_max
: The auto exposure tries to set the exposure time and gain factor such that the average image intensity is between an upper and a lower bound. This parameter defines the upper bound. It can be reached if there is no saturation (e.g. due to reflections). -
camera_exp_auto_average_min
: Seecamera_exp_auto_average_max
. This parameter defines the lower bound. The average image intensity can be reduced to this value to reduce or avoid saturation (e.g. due to reflections).
File truncated at 100 lines see the full file
0.3.1 (2024-06-07)
- Fix: parameter 'camera_wb_red' cannot be set
- Fixed limiting float parameters to avoid errors due to rounding
- Fix: don't treat unknown parameters as error in the parameter callback (e.g. for new enable_pub_plugins param injected by image_transport)
- Fix: Declaring parameters dynamic so that undeclaring works on cleanup
0.3.0 (2023-03-10)
- Replaced parameter camera_exp_auto by camera_exp_control and camera_exp_auto_mode for consistency
- Change parameters camera_exp_max and camera_exp_value so unit seconds for consistency
- Added Gamma parameter
- only publish high/low if the publisher exists
- fix if iocontrol is not available
0.2.1 (2021-11-15)
- Add exposure_adapt_timeout parameter
- warn instead of info if parameter can't be set
- fix line_source and add more extra_data to CameraParam
0.2.0 (2021-08-02)
For supporting rc_sgm_producer:
- Extend color format to RGB8 for ros foxy
- Using parameter PtpEnable instead of deprecated parameter GevIEEE1588
0.1.4 (2021-02-11)
- Accept devices from vendor Roboception or if model is rc_visard or rc_cube
0.1.3 (2021-02-02)
- Use image_transport.hpp to get rid of a warning and hence drop eloquent support
- Use C-strings for RCLCPP macros to support rolling
0.1.2 (2021-01-29)
- fix linking problems
0.1.1 (2021-01-18)
- fix typo in package xml
0.1.0 (2021-01-18)
- initial release
Package Dependencies
Deps | Name |
---|---|
ament_cmake | |
ament_lint_auto | |
ament_cmake_cppcheck | |
ament_cmake_xmllint | |
rclcpp | |
rclcpp_components | |
sensor_msgs | |
stereo_msgs | |
diagnostic_updater | |
image_transport | |
rc_common_msgs | |
rc_genicam_api |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged rc_genicam_driver at Robotics Stack Exchange
![]() |
rc_genicam_driver package from rc_genicam_driver reporc_genicam_driver |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.3.1 |
License | BSD |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/roboception/rc_genicam_driver_ros2.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-13 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Felix Ruess
- Heiko Hirschmueller
Authors
rc_genicam_driver for ROS2
ROS2 driver to configure a Roboception rc_visard or rc_cube and receive images.
Please also consult the manuals for more details:
- https://doc.rc-visard.com
- https://doc.rc-cube.com
GenICam GenTL Transport Layer
The rc_genicam_driver uses rc_genicam_api
for interfacing with the rc_visard or rc_cube via GenICam/GigE Vision and requires a
transport layer called a GenTL producer (shared library with the suffix .cti
).
For convenience rc_genicam_api comes with producers from Baumer for common
architectures.
The path to the producer can be set with the GENICAM_GENTL64_PATH
environment variable (or GENICAM_GENTL32_PATH
for 32 bit systems).
If not set, rc_genicam_driver will fall back to searching for the Baumer
producer where rc_genicam_api is installed.
If the producer .cti can’t be found and you will get an error message like
[ERROR] [1512568083.512790905]: No transport layers found in path /opt/ros/melodic/lib/rc_genicam_api
In this case you need either need to actually install rc_genicam_api properly or set the environment variable when running it. E.g. export:
GENICAM_GENTL64_PATH=/path/to/rc_genicam_api/baumer/Ubuntu-18.04/x86_64
Configuration
Read-only parameters
Parameters to be set to the ROS param server before run-time.
-
device
: The ID of the device, e.g. Roboception rc_visard sensor or rc_cube. This can be either the-
serial number, e.g.
02912345
IMPORTANT: preceed with a colon (
:02912345
) when passing this on the commandline or setting it via rosparam (see https://github.com/ros/ros_comm/issues/1339). This is not neccessary when specifying it as a string in a launch file. -
user defined name (factory default is the name of the rc_visard’s model), must be unique among all reachable sensors
-
internal ID, which is generated by the used GenTL producer. Often, this ID contains the MAC address in some way. This ID can change with the implementation of the transport layer.
See https://github.com/roboception/rc_genicam_api#device-id for more details. By default this parameter is set to
*
, which works with if only one compatible device can be found on the network. -
At runtime changeable parameters
These parameters can be changed during runtime. Parameters will not be declared if they are not available on the device. This can happen if the device firmware is old and does not offer the parameter.
-
ptp_enabled
: Enable PTP slave (PrecisionTimeProtocol, IEEE1588) -
camera_fps
: Frames per second that are published by this node. Publishing frames will be slowed down depending on this setting. Setting it higher than the real framerate of the specific device has no effect. -
camera_exp_auto
: This parameter has been removed. Please use camera_exp_control instead. -
camera_exp_control
: Expose control mode which can be “Manual” for setting exposure time and gain via camera_exp_value and camera_gain_value, “Auto” for auto exposure or “HDR” for high dynamic range mode. Default: Auto. -
camera_exp_auto_mode
Auto-exposure mode which can be “Normal”, “Out1High” or “AdaptiveOut1”. Default: Normal. -
camera_exp_max
: Maximum exposure time in seconds if exp_auto is true. -
camera_exp_auto_average_max
: The auto exposure tries to set the exposure time and gain factor such that the average image intensity is between an upper and a lower bound. This parameter defines the upper bound. It can be reached if there is no saturation (e.g. due to reflections). -
camera_exp_auto_average_min
: Seecamera_exp_auto_average_max
. This parameter defines the lower bound. The average image intensity can be reduced to this value to reduce or avoid saturation (e.g. due to reflections).
File truncated at 100 lines see the full file
0.3.1 (2024-06-07)
- Fix: parameter 'camera_wb_red' cannot be set
- Fixed limiting float parameters to avoid errors due to rounding
- Fix: don't treat unknown parameters as error in the parameter callback (e.g. for new enable_pub_plugins param injected by image_transport)
- Fix: Declaring parameters dynamic so that undeclaring works on cleanup
0.3.0 (2023-03-10)
- Replaced parameter camera_exp_auto by camera_exp_control and camera_exp_auto_mode for consistency
- Change parameters camera_exp_max and camera_exp_value so unit seconds for consistency
- Added Gamma parameter
- only publish high/low if the publisher exists
- fix if iocontrol is not available
0.2.1 (2021-11-15)
- Add exposure_adapt_timeout parameter
- warn instead of info if parameter can't be set
- fix line_source and add more extra_data to CameraParam
0.2.0 (2021-08-02)
For supporting rc_sgm_producer:
- Extend color format to RGB8 for ros foxy
- Using parameter PtpEnable instead of deprecated parameter GevIEEE1588
0.1.4 (2021-02-11)
- Accept devices from vendor Roboception or if model is rc_visard or rc_cube
0.1.3 (2021-02-02)
- Use image_transport.hpp to get rid of a warning and hence drop eloquent support
- Use C-strings for RCLCPP macros to support rolling
0.1.2 (2021-01-29)
- fix linking problems
0.1.1 (2021-01-18)
- fix typo in package xml
0.1.0 (2021-01-18)
- initial release
Package Dependencies
Deps | Name |
---|---|
ament_cmake | |
ament_lint_auto | |
ament_cmake_cppcheck | |
ament_cmake_xmllint | |
rclcpp | |
rclcpp_components | |
sensor_msgs | |
stereo_msgs | |
diagnostic_updater | |
image_transport | |
rc_common_msgs | |
rc_genicam_api |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged rc_genicam_driver at Robotics Stack Exchange
![]() |
rc_genicam_driver package from rc_genicam_driver reporc_genicam_driver |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.3.1 |
License | BSD |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/roboception/rc_genicam_driver_ros2.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-13 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Felix Ruess
- Heiko Hirschmueller
Authors
rc_genicam_driver for ROS2
ROS2 driver to configure a Roboception rc_visard or rc_cube and receive images.
Please also consult the manuals for more details:
- https://doc.rc-visard.com
- https://doc.rc-cube.com
GenICam GenTL Transport Layer
The rc_genicam_driver uses rc_genicam_api
for interfacing with the rc_visard or rc_cube via GenICam/GigE Vision and requires a
transport layer called a GenTL producer (shared library with the suffix .cti
).
For convenience rc_genicam_api comes with producers from Baumer for common
architectures.
The path to the producer can be set with the GENICAM_GENTL64_PATH
environment variable (or GENICAM_GENTL32_PATH
for 32 bit systems).
If not set, rc_genicam_driver will fall back to searching for the Baumer
producer where rc_genicam_api is installed.
If the producer .cti can’t be found and you will get an error message like
[ERROR] [1512568083.512790905]: No transport layers found in path /opt/ros/melodic/lib/rc_genicam_api
In this case you need either need to actually install rc_genicam_api properly or set the environment variable when running it. E.g. export:
GENICAM_GENTL64_PATH=/path/to/rc_genicam_api/baumer/Ubuntu-18.04/x86_64
Configuration
Read-only parameters
Parameters to be set to the ROS param server before run-time.
-
device
: The ID of the device, e.g. Roboception rc_visard sensor or rc_cube. This can be either the-
serial number, e.g.
02912345
IMPORTANT: preceed with a colon (
:02912345
) when passing this on the commandline or setting it via rosparam (see https://github.com/ros/ros_comm/issues/1339). This is not neccessary when specifying it as a string in a launch file. -
user defined name (factory default is the name of the rc_visard’s model), must be unique among all reachable sensors
-
internal ID, which is generated by the used GenTL producer. Often, this ID contains the MAC address in some way. This ID can change with the implementation of the transport layer.
See https://github.com/roboception/rc_genicam_api#device-id for more details. By default this parameter is set to
*
, which works with if only one compatible device can be found on the network. -
At runtime changeable parameters
These parameters can be changed during runtime. Parameters will not be declared if they are not available on the device. This can happen if the device firmware is old and does not offer the parameter.
-
ptp_enabled
: Enable PTP slave (PrecisionTimeProtocol, IEEE1588) -
camera_fps
: Frames per second that are published by this node. Publishing frames will be slowed down depending on this setting. Setting it higher than the real framerate of the specific device has no effect. -
camera_exp_auto
: This parameter has been removed. Please use camera_exp_control instead. -
camera_exp_control
: Expose control mode which can be “Manual” for setting exposure time and gain via camera_exp_value and camera_gain_value, “Auto” for auto exposure or “HDR” for high dynamic range mode. Default: Auto. -
camera_exp_auto_mode
Auto-exposure mode which can be “Normal”, “Out1High” or “AdaptiveOut1”. Default: Normal. -
camera_exp_max
: Maximum exposure time in seconds if exp_auto is true. -
camera_exp_auto_average_max
: The auto exposure tries to set the exposure time and gain factor such that the average image intensity is between an upper and a lower bound. This parameter defines the upper bound. It can be reached if there is no saturation (e.g. due to reflections). -
camera_exp_auto_average_min
: Seecamera_exp_auto_average_max
. This parameter defines the lower bound. The average image intensity can be reduced to this value to reduce or avoid saturation (e.g. due to reflections).
File truncated at 100 lines see the full file
0.3.1 (2024-06-07)
- Fix: parameter 'camera_wb_red' cannot be set
- Fixed limiting float parameters to avoid errors due to rounding
- Fix: don't treat unknown parameters as error in the parameter callback (e.g. for new enable_pub_plugins param injected by image_transport)
- Fix: Declaring parameters dynamic so that undeclaring works on cleanup
0.3.0 (2023-03-10)
- Replaced parameter camera_exp_auto by camera_exp_control and camera_exp_auto_mode for consistency
- Change parameters camera_exp_max and camera_exp_value so unit seconds for consistency
- Added Gamma parameter
- only publish high/low if the publisher exists
- fix if iocontrol is not available
0.2.1 (2021-11-15)
- Add exposure_adapt_timeout parameter
- warn instead of info if parameter can't be set
- fix line_source and add more extra_data to CameraParam
0.2.0 (2021-08-02)
For supporting rc_sgm_producer:
- Extend color format to RGB8 for ros foxy
- Using parameter PtpEnable instead of deprecated parameter GevIEEE1588
0.1.4 (2021-02-11)
- Accept devices from vendor Roboception or if model is rc_visard or rc_cube
0.1.3 (2021-02-02)
- Use image_transport.hpp to get rid of a warning and hence drop eloquent support
- Use C-strings for RCLCPP macros to support rolling
0.1.2 (2021-01-29)
- fix linking problems
0.1.1 (2021-01-18)
- fix typo in package xml
0.1.0 (2021-01-18)
- initial release
Package Dependencies
Deps | Name |
---|---|
ament_cmake | |
ament_lint_auto | |
ament_cmake_cppcheck | |
ament_cmake_xmllint | |
rclcpp | |
rclcpp_components | |
sensor_msgs | |
stereo_msgs | |
diagnostic_updater | |
image_transport | |
rc_common_msgs | |
rc_genicam_api |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged rc_genicam_driver at Robotics Stack Exchange
![]() |
rc_genicam_driver package from rc_genicam_driver reporc_genicam_driver |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.3.1 |
License | BSD |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/roboception/rc_genicam_driver_ros2.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-13 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Felix Ruess
- Heiko Hirschmueller
Authors
rc_genicam_driver for ROS2
ROS2 driver to configure a Roboception rc_visard or rc_cube and receive images.
Please also consult the manuals for more details:
- https://doc.rc-visard.com
- https://doc.rc-cube.com
GenICam GenTL Transport Layer
The rc_genicam_driver uses rc_genicam_api
for interfacing with the rc_visard or rc_cube via GenICam/GigE Vision and requires a
transport layer called a GenTL producer (shared library with the suffix .cti
).
For convenience rc_genicam_api comes with producers from Baumer for common
architectures.
The path to the producer can be set with the GENICAM_GENTL64_PATH
environment variable (or GENICAM_GENTL32_PATH
for 32 bit systems).
If not set, rc_genicam_driver will fall back to searching for the Baumer
producer where rc_genicam_api is installed.
If the producer .cti can’t be found and you will get an error message like
[ERROR] [1512568083.512790905]: No transport layers found in path /opt/ros/melodic/lib/rc_genicam_api
In this case you need either need to actually install rc_genicam_api properly or set the environment variable when running it. E.g. export:
GENICAM_GENTL64_PATH=/path/to/rc_genicam_api/baumer/Ubuntu-18.04/x86_64
Configuration
Read-only parameters
Parameters to be set to the ROS param server before run-time.
-
device
: The ID of the device, e.g. Roboception rc_visard sensor or rc_cube. This can be either the-
serial number, e.g.
02912345
IMPORTANT: preceed with a colon (
:02912345
) when passing this on the commandline or setting it via rosparam (see https://github.com/ros/ros_comm/issues/1339). This is not neccessary when specifying it as a string in a launch file. -
user defined name (factory default is the name of the rc_visard’s model), must be unique among all reachable sensors
-
internal ID, which is generated by the used GenTL producer. Often, this ID contains the MAC address in some way. This ID can change with the implementation of the transport layer.
See https://github.com/roboception/rc_genicam_api#device-id for more details. By default this parameter is set to
*
, which works with if only one compatible device can be found on the network. -
At runtime changeable parameters
These parameters can be changed during runtime. Parameters will not be declared if they are not available on the device. This can happen if the device firmware is old and does not offer the parameter.
-
ptp_enabled
: Enable PTP slave (PrecisionTimeProtocol, IEEE1588) -
camera_fps
: Frames per second that are published by this node. Publishing frames will be slowed down depending on this setting. Setting it higher than the real framerate of the specific device has no effect. -
camera_exp_auto
: This parameter has been removed. Please use camera_exp_control instead. -
camera_exp_control
: Expose control mode which can be “Manual” for setting exposure time and gain via camera_exp_value and camera_gain_value, “Auto” for auto exposure or “HDR” for high dynamic range mode. Default: Auto. -
camera_exp_auto_mode
Auto-exposure mode which can be “Normal”, “Out1High” or “AdaptiveOut1”. Default: Normal. -
camera_exp_max
: Maximum exposure time in seconds if exp_auto is true. -
camera_exp_auto_average_max
: The auto exposure tries to set the exposure time and gain factor such that the average image intensity is between an upper and a lower bound. This parameter defines the upper bound. It can be reached if there is no saturation (e.g. due to reflections). -
camera_exp_auto_average_min
: Seecamera_exp_auto_average_max
. This parameter defines the lower bound. The average image intensity can be reduced to this value to reduce or avoid saturation (e.g. due to reflections).
File truncated at 100 lines see the full file
0.3.1 (2024-06-07)
- Fix: parameter 'camera_wb_red' cannot be set
- Fixed limiting float parameters to avoid errors due to rounding
- Fix: don't treat unknown parameters as error in the parameter callback (e.g. for new enable_pub_plugins param injected by image_transport)
- Fix: Declaring parameters dynamic so that undeclaring works on cleanup
0.3.0 (2023-03-10)
- Replaced parameter camera_exp_auto by camera_exp_control and camera_exp_auto_mode for consistency
- Change parameters camera_exp_max and camera_exp_value so unit seconds for consistency
- Added Gamma parameter
- only publish high/low if the publisher exists
- fix if iocontrol is not available
0.2.1 (2021-11-15)
- Add exposure_adapt_timeout parameter
- warn instead of info if parameter can't be set
- fix line_source and add more extra_data to CameraParam
0.2.0 (2021-08-02)
For supporting rc_sgm_producer:
- Extend color format to RGB8 for ros foxy
- Using parameter PtpEnable instead of deprecated parameter GevIEEE1588
0.1.4 (2021-02-11)
- Accept devices from vendor Roboception or if model is rc_visard or rc_cube
0.1.3 (2021-02-02)
- Use image_transport.hpp to get rid of a warning and hence drop eloquent support
- Use C-strings for RCLCPP macros to support rolling
0.1.2 (2021-01-29)
- fix linking problems
0.1.1 (2021-01-18)
- fix typo in package xml
0.1.0 (2021-01-18)
- initial release
Package Dependencies
Deps | Name |
---|---|
ament_cmake | |
ament_lint_auto | |
ament_cmake_cppcheck | |
ament_cmake_xmllint | |
rclcpp | |
rclcpp_components | |
sensor_msgs | |
stereo_msgs | |
diagnostic_updater | |
image_transport | |
rc_common_msgs | |
rc_genicam_api |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged rc_genicam_driver at Robotics Stack Exchange
![]() |
rc_genicam_driver package from rc_genicam_driver reporc_genicam_driver |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.3.1 |
License | BSD |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/roboception/rc_genicam_driver_ros2.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-13 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Felix Ruess
- Heiko Hirschmueller
Authors
rc_genicam_driver for ROS2
ROS2 driver to configure a Roboception rc_visard or rc_cube and receive images.
Please also consult the manuals for more details:
- https://doc.rc-visard.com
- https://doc.rc-cube.com
GenICam GenTL Transport Layer
The rc_genicam_driver uses rc_genicam_api
for interfacing with the rc_visard or rc_cube via GenICam/GigE Vision and requires a
transport layer called a GenTL producer (shared library with the suffix .cti
).
For convenience rc_genicam_api comes with producers from Baumer for common
architectures.
The path to the producer can be set with the GENICAM_GENTL64_PATH
environment variable (or GENICAM_GENTL32_PATH
for 32 bit systems).
If not set, rc_genicam_driver will fall back to searching for the Baumer
producer where rc_genicam_api is installed.
If the producer .cti can’t be found and you will get an error message like
[ERROR] [1512568083.512790905]: No transport layers found in path /opt/ros/melodic/lib/rc_genicam_api
In this case you need either need to actually install rc_genicam_api properly or set the environment variable when running it. E.g. export:
GENICAM_GENTL64_PATH=/path/to/rc_genicam_api/baumer/Ubuntu-18.04/x86_64
Configuration
Read-only parameters
Parameters to be set to the ROS param server before run-time.
-
device
: The ID of the device, e.g. Roboception rc_visard sensor or rc_cube. This can be either the-
serial number, e.g.
02912345
IMPORTANT: preceed with a colon (
:02912345
) when passing this on the commandline or setting it via rosparam (see https://github.com/ros/ros_comm/issues/1339). This is not neccessary when specifying it as a string in a launch file. -
user defined name (factory default is the name of the rc_visard’s model), must be unique among all reachable sensors
-
internal ID, which is generated by the used GenTL producer. Often, this ID contains the MAC address in some way. This ID can change with the implementation of the transport layer.
See https://github.com/roboception/rc_genicam_api#device-id for more details. By default this parameter is set to
*
, which works with if only one compatible device can be found on the network. -
At runtime changeable parameters
These parameters can be changed during runtime. Parameters will not be declared if they are not available on the device. This can happen if the device firmware is old and does not offer the parameter.
-
ptp_enabled
: Enable PTP slave (PrecisionTimeProtocol, IEEE1588) -
camera_fps
: Frames per second that are published by this node. Publishing frames will be slowed down depending on this setting. Setting it higher than the real framerate of the specific device has no effect. -
camera_exp_auto
: This parameter has been removed. Please use camera_exp_control instead. -
camera_exp_control
: Expose control mode which can be “Manual” for setting exposure time and gain via camera_exp_value and camera_gain_value, “Auto” for auto exposure or “HDR” for high dynamic range mode. Default: Auto. -
camera_exp_auto_mode
Auto-exposure mode which can be “Normal”, “Out1High” or “AdaptiveOut1”. Default: Normal. -
camera_exp_max
: Maximum exposure time in seconds if exp_auto is true. -
camera_exp_auto_average_max
: The auto exposure tries to set the exposure time and gain factor such that the average image intensity is between an upper and a lower bound. This parameter defines the upper bound. It can be reached if there is no saturation (e.g. due to reflections). -
camera_exp_auto_average_min
: Seecamera_exp_auto_average_max
. This parameter defines the lower bound. The average image intensity can be reduced to this value to reduce or avoid saturation (e.g. due to reflections).
File truncated at 100 lines see the full file
0.3.1 (2024-06-07)
- Fix: parameter 'camera_wb_red' cannot be set
- Fixed limiting float parameters to avoid errors due to rounding
- Fix: don't treat unknown parameters as error in the parameter callback (e.g. for new enable_pub_plugins param injected by image_transport)
- Fix: Declaring parameters dynamic so that undeclaring works on cleanup
0.3.0 (2023-03-10)
- Replaced parameter camera_exp_auto by camera_exp_control and camera_exp_auto_mode for consistency
- Change parameters camera_exp_max and camera_exp_value so unit seconds for consistency
- Added Gamma parameter
- only publish high/low if the publisher exists
- fix if iocontrol is not available
0.2.1 (2021-11-15)
- Add exposure_adapt_timeout parameter
- warn instead of info if parameter can't be set
- fix line_source and add more extra_data to CameraParam
0.2.0 (2021-08-02)
For supporting rc_sgm_producer:
- Extend color format to RGB8 for ros foxy
- Using parameter PtpEnable instead of deprecated parameter GevIEEE1588
0.1.4 (2021-02-11)
- Accept devices from vendor Roboception or if model is rc_visard or rc_cube
0.1.3 (2021-02-02)
- Use image_transport.hpp to get rid of a warning and hence drop eloquent support
- Use C-strings for RCLCPP macros to support rolling
0.1.2 (2021-01-29)
- fix linking problems
0.1.1 (2021-01-18)
- fix typo in package xml
0.1.0 (2021-01-18)
- initial release
Package Dependencies
Deps | Name |
---|---|
ament_cmake | |
ament_lint_auto | |
ament_cmake_cppcheck | |
ament_cmake_xmllint | |
rclcpp | |
rclcpp_components | |
sensor_msgs | |
stereo_msgs | |
diagnostic_updater | |
image_transport | |
rc_common_msgs | |
rc_genicam_api |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged rc_genicam_driver at Robotics Stack Exchange
![]() |
rc_genicam_driver package from rc_genicam_driver reporc_genicam_driver |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.3.1 |
License | BSD |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/roboception/rc_genicam_driver_ros2.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-13 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Felix Ruess
- Heiko Hirschmueller
Authors
rc_genicam_driver for ROS2
ROS2 driver to configure a Roboception rc_visard or rc_cube and receive images.
Please also consult the manuals for more details:
- https://doc.rc-visard.com
- https://doc.rc-cube.com
GenICam GenTL Transport Layer
The rc_genicam_driver uses rc_genicam_api
for interfacing with the rc_visard or rc_cube via GenICam/GigE Vision and requires a
transport layer called a GenTL producer (shared library with the suffix .cti
).
For convenience rc_genicam_api comes with producers from Baumer for common
architectures.
The path to the producer can be set with the GENICAM_GENTL64_PATH
environment variable (or GENICAM_GENTL32_PATH
for 32 bit systems).
If not set, rc_genicam_driver will fall back to searching for the Baumer
producer where rc_genicam_api is installed.
If the producer .cti can’t be found and you will get an error message like
[ERROR] [1512568083.512790905]: No transport layers found in path /opt/ros/melodic/lib/rc_genicam_api
In this case you need either need to actually install rc_genicam_api properly or set the environment variable when running it. E.g. export:
GENICAM_GENTL64_PATH=/path/to/rc_genicam_api/baumer/Ubuntu-18.04/x86_64
Configuration
Read-only parameters
Parameters to be set to the ROS param server before run-time.
-
device
: The ID of the device, e.g. Roboception rc_visard sensor or rc_cube. This can be either the-
serial number, e.g.
02912345
IMPORTANT: preceed with a colon (
:02912345
) when passing this on the commandline or setting it via rosparam (see https://github.com/ros/ros_comm/issues/1339). This is not neccessary when specifying it as a string in a launch file. -
user defined name (factory default is the name of the rc_visard’s model), must be unique among all reachable sensors
-
internal ID, which is generated by the used GenTL producer. Often, this ID contains the MAC address in some way. This ID can change with the implementation of the transport layer.
See https://github.com/roboception/rc_genicam_api#device-id for more details. By default this parameter is set to
*
, which works with if only one compatible device can be found on the network. -
At runtime changeable parameters
These parameters can be changed during runtime. Parameters will not be declared if they are not available on the device. This can happen if the device firmware is old and does not offer the parameter.
-
ptp_enabled
: Enable PTP slave (PrecisionTimeProtocol, IEEE1588) -
camera_fps
: Frames per second that are published by this node. Publishing frames will be slowed down depending on this setting. Setting it higher than the real framerate of the specific device has no effect. -
camera_exp_auto
: This parameter has been removed. Please use camera_exp_control instead. -
camera_exp_control
: Expose control mode which can be “Manual” for setting exposure time and gain via camera_exp_value and camera_gain_value, “Auto” for auto exposure or “HDR” for high dynamic range mode. Default: Auto. -
camera_exp_auto_mode
Auto-exposure mode which can be “Normal”, “Out1High” or “AdaptiveOut1”. Default: Normal. -
camera_exp_max
: Maximum exposure time in seconds if exp_auto is true. -
camera_exp_auto_average_max
: The auto exposure tries to set the exposure time and gain factor such that the average image intensity is between an upper and a lower bound. This parameter defines the upper bound. It can be reached if there is no saturation (e.g. due to reflections). -
camera_exp_auto_average_min
: Seecamera_exp_auto_average_max
. This parameter defines the lower bound. The average image intensity can be reduced to this value to reduce or avoid saturation (e.g. due to reflections).
File truncated at 100 lines see the full file
0.3.1 (2024-06-07)
- Fix: parameter 'camera_wb_red' cannot be set
- Fixed limiting float parameters to avoid errors due to rounding
- Fix: don't treat unknown parameters as error in the parameter callback (e.g. for new enable_pub_plugins param injected by image_transport)
- Fix: Declaring parameters dynamic so that undeclaring works on cleanup
0.3.0 (2023-03-10)
- Replaced parameter camera_exp_auto by camera_exp_control and camera_exp_auto_mode for consistency
- Change parameters camera_exp_max and camera_exp_value so unit seconds for consistency
- Added Gamma parameter
- only publish high/low if the publisher exists
- fix if iocontrol is not available
0.2.1 (2021-11-15)
- Add exposure_adapt_timeout parameter
- warn instead of info if parameter can't be set
- fix line_source and add more extra_data to CameraParam
0.2.0 (2021-08-02)
For supporting rc_sgm_producer:
- Extend color format to RGB8 for ros foxy
- Using parameter PtpEnable instead of deprecated parameter GevIEEE1588
0.1.4 (2021-02-11)
- Accept devices from vendor Roboception or if model is rc_visard or rc_cube
0.1.3 (2021-02-02)
- Use image_transport.hpp to get rid of a warning and hence drop eloquent support
- Use C-strings for RCLCPP macros to support rolling
0.1.2 (2021-01-29)
- fix linking problems
0.1.1 (2021-01-18)
- fix typo in package xml
0.1.0 (2021-01-18)
- initial release
Package Dependencies
Deps | Name |
---|---|
ament_cmake | |
ament_lint_auto | |
ament_cmake_cppcheck | |
ament_cmake_xmllint | |
rclcpp | |
rclcpp_components | |
sensor_msgs | |
stereo_msgs | |
diagnostic_updater | |
image_transport | |
rc_common_msgs | |
rc_genicam_api |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged rc_genicam_driver at Robotics Stack Exchange
![]() |
rc_genicam_driver package from rc_genicam_driver reporc_genicam_driver |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.3.1 |
License | BSD |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/roboception/rc_genicam_driver_ros2.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-13 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Felix Ruess
- Heiko Hirschmueller
Authors
rc_genicam_driver for ROS2
ROS2 driver to configure a Roboception rc_visard or rc_cube and receive images.
Please also consult the manuals for more details:
- https://doc.rc-visard.com
- https://doc.rc-cube.com
GenICam GenTL Transport Layer
The rc_genicam_driver uses rc_genicam_api
for interfacing with the rc_visard or rc_cube via GenICam/GigE Vision and requires a
transport layer called a GenTL producer (shared library with the suffix .cti
).
For convenience rc_genicam_api comes with producers from Baumer for common
architectures.
The path to the producer can be set with the GENICAM_GENTL64_PATH
environment variable (or GENICAM_GENTL32_PATH
for 32 bit systems).
If not set, rc_genicam_driver will fall back to searching for the Baumer
producer where rc_genicam_api is installed.
If the producer .cti can’t be found and you will get an error message like
[ERROR] [1512568083.512790905]: No transport layers found in path /opt/ros/melodic/lib/rc_genicam_api
In this case you need either need to actually install rc_genicam_api properly or set the environment variable when running it. E.g. export:
GENICAM_GENTL64_PATH=/path/to/rc_genicam_api/baumer/Ubuntu-18.04/x86_64
Configuration
Read-only parameters
Parameters to be set to the ROS param server before run-time.
-
device
: The ID of the device, e.g. Roboception rc_visard sensor or rc_cube. This can be either the-
serial number, e.g.
02912345
IMPORTANT: preceed with a colon (
:02912345
) when passing this on the commandline or setting it via rosparam (see https://github.com/ros/ros_comm/issues/1339). This is not neccessary when specifying it as a string in a launch file. -
user defined name (factory default is the name of the rc_visard’s model), must be unique among all reachable sensors
-
internal ID, which is generated by the used GenTL producer. Often, this ID contains the MAC address in some way. This ID can change with the implementation of the transport layer.
See https://github.com/roboception/rc_genicam_api#device-id for more details. By default this parameter is set to
*
, which works with if only one compatible device can be found on the network. -
At runtime changeable parameters
These parameters can be changed during runtime. Parameters will not be declared if they are not available on the device. This can happen if the device firmware is old and does not offer the parameter.
-
ptp_enabled
: Enable PTP slave (PrecisionTimeProtocol, IEEE1588) -
camera_fps
: Frames per second that are published by this node. Publishing frames will be slowed down depending on this setting. Setting it higher than the real framerate of the specific device has no effect. -
camera_exp_auto
: This parameter has been removed. Please use camera_exp_control instead. -
camera_exp_control
: Expose control mode which can be “Manual” for setting exposure time and gain via camera_exp_value and camera_gain_value, “Auto” for auto exposure or “HDR” for high dynamic range mode. Default: Auto. -
camera_exp_auto_mode
Auto-exposure mode which can be “Normal”, “Out1High” or “AdaptiveOut1”. Default: Normal. -
camera_exp_max
: Maximum exposure time in seconds if exp_auto is true. -
camera_exp_auto_average_max
: The auto exposure tries to set the exposure time and gain factor such that the average image intensity is between an upper and a lower bound. This parameter defines the upper bound. It can be reached if there is no saturation (e.g. due to reflections). -
camera_exp_auto_average_min
: Seecamera_exp_auto_average_max
. This parameter defines the lower bound. The average image intensity can be reduced to this value to reduce or avoid saturation (e.g. due to reflections).
File truncated at 100 lines see the full file
0.3.1 (2024-06-07)
- Fix: parameter 'camera_wb_red' cannot be set
- Fixed limiting float parameters to avoid errors due to rounding
- Fix: don't treat unknown parameters as error in the parameter callback (e.g. for new enable_pub_plugins param injected by image_transport)
- Fix: Declaring parameters dynamic so that undeclaring works on cleanup
0.3.0 (2023-03-10)
- Replaced parameter camera_exp_auto by camera_exp_control and camera_exp_auto_mode for consistency
- Change parameters camera_exp_max and camera_exp_value so unit seconds for consistency
- Added Gamma parameter
- only publish high/low if the publisher exists
- fix if iocontrol is not available
0.2.1 (2021-11-15)
- Add exposure_adapt_timeout parameter
- warn instead of info if parameter can't be set
- fix line_source and add more extra_data to CameraParam
0.2.0 (2021-08-02)
For supporting rc_sgm_producer:
- Extend color format to RGB8 for ros foxy
- Using parameter PtpEnable instead of deprecated parameter GevIEEE1588
0.1.4 (2021-02-11)
- Accept devices from vendor Roboception or if model is rc_visard or rc_cube
0.1.3 (2021-02-02)
- Use image_transport.hpp to get rid of a warning and hence drop eloquent support
- Use C-strings for RCLCPP macros to support rolling
0.1.2 (2021-01-29)
- fix linking problems
0.1.1 (2021-01-18)
- fix typo in package xml
0.1.0 (2021-01-18)
- initial release
Package Dependencies
Deps | Name |
---|---|
ament_cmake | |
ament_lint_auto | |
ament_cmake_cppcheck | |
ament_cmake_xmllint | |
rclcpp | |
rclcpp_components | |
sensor_msgs | |
stereo_msgs | |
diagnostic_updater | |
image_transport | |
rc_common_msgs | |
rc_genicam_api |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged rc_genicam_driver at Robotics Stack Exchange
![]() |
rc_genicam_driver package from rc_genicam_driver reporc_genicam_driver |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.3.1 |
License | BSD |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/roboception/rc_genicam_driver_ros2.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-13 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Felix Ruess
- Heiko Hirschmueller
Authors
rc_genicam_driver for ROS2
ROS2 driver to configure a Roboception rc_visard or rc_cube and receive images.
Please also consult the manuals for more details:
- https://doc.rc-visard.com
- https://doc.rc-cube.com
GenICam GenTL Transport Layer
The rc_genicam_driver uses rc_genicam_api
for interfacing with the rc_visard or rc_cube via GenICam/GigE Vision and requires a
transport layer called a GenTL producer (shared library with the suffix .cti
).
For convenience rc_genicam_api comes with producers from Baumer for common
architectures.
The path to the producer can be set with the GENICAM_GENTL64_PATH
environment variable (or GENICAM_GENTL32_PATH
for 32 bit systems).
If not set, rc_genicam_driver will fall back to searching for the Baumer
producer where rc_genicam_api is installed.
If the producer .cti can’t be found and you will get an error message like
[ERROR] [1512568083.512790905]: No transport layers found in path /opt/ros/melodic/lib/rc_genicam_api
In this case you need either need to actually install rc_genicam_api properly or set the environment variable when running it. E.g. export:
GENICAM_GENTL64_PATH=/path/to/rc_genicam_api/baumer/Ubuntu-18.04/x86_64
Configuration
Read-only parameters
Parameters to be set to the ROS param server before run-time.
-
device
: The ID of the device, e.g. Roboception rc_visard sensor or rc_cube. This can be either the-
serial number, e.g.
02912345
IMPORTANT: preceed with a colon (
:02912345
) when passing this on the commandline or setting it via rosparam (see https://github.com/ros/ros_comm/issues/1339). This is not neccessary when specifying it as a string in a launch file. -
user defined name (factory default is the name of the rc_visard’s model), must be unique among all reachable sensors
-
internal ID, which is generated by the used GenTL producer. Often, this ID contains the MAC address in some way. This ID can change with the implementation of the transport layer.
See https://github.com/roboception/rc_genicam_api#device-id for more details. By default this parameter is set to
*
, which works with if only one compatible device can be found on the network. -
At runtime changeable parameters
These parameters can be changed during runtime. Parameters will not be declared if they are not available on the device. This can happen if the device firmware is old and does not offer the parameter.
-
ptp_enabled
: Enable PTP slave (PrecisionTimeProtocol, IEEE1588) -
camera_fps
: Frames per second that are published by this node. Publishing frames will be slowed down depending on this setting. Setting it higher than the real framerate of the specific device has no effect. -
camera_exp_auto
: This parameter has been removed. Please use camera_exp_control instead. -
camera_exp_control
: Expose control mode which can be “Manual” for setting exposure time and gain via camera_exp_value and camera_gain_value, “Auto” for auto exposure or “HDR” for high dynamic range mode. Default: Auto. -
camera_exp_auto_mode
Auto-exposure mode which can be “Normal”, “Out1High” or “AdaptiveOut1”. Default: Normal. -
camera_exp_max
: Maximum exposure time in seconds if exp_auto is true. -
camera_exp_auto_average_max
: The auto exposure tries to set the exposure time and gain factor such that the average image intensity is between an upper and a lower bound. This parameter defines the upper bound. It can be reached if there is no saturation (e.g. due to reflections). -
camera_exp_auto_average_min
: Seecamera_exp_auto_average_max
. This parameter defines the lower bound. The average image intensity can be reduced to this value to reduce or avoid saturation (e.g. due to reflections).
File truncated at 100 lines see the full file
0.3.1 (2024-06-07)
- Fix: parameter 'camera_wb_red' cannot be set
- Fixed limiting float parameters to avoid errors due to rounding
- Fix: don't treat unknown parameters as error in the parameter callback (e.g. for new enable_pub_plugins param injected by image_transport)
- Fix: Declaring parameters dynamic so that undeclaring works on cleanup
0.3.0 (2023-03-10)
- Replaced parameter camera_exp_auto by camera_exp_control and camera_exp_auto_mode for consistency
- Change parameters camera_exp_max and camera_exp_value so unit seconds for consistency
- Added Gamma parameter
- only publish high/low if the publisher exists
- fix if iocontrol is not available
0.2.1 (2021-11-15)
- Add exposure_adapt_timeout parameter
- warn instead of info if parameter can't be set
- fix line_source and add more extra_data to CameraParam
0.2.0 (2021-08-02)
For supporting rc_sgm_producer:
- Extend color format to RGB8 for ros foxy
- Using parameter PtpEnable instead of deprecated parameter GevIEEE1588
0.1.4 (2021-02-11)
- Accept devices from vendor Roboception or if model is rc_visard or rc_cube
0.1.3 (2021-02-02)
- Use image_transport.hpp to get rid of a warning and hence drop eloquent support
- Use C-strings for RCLCPP macros to support rolling
0.1.2 (2021-01-29)
- fix linking problems
0.1.1 (2021-01-18)
- fix typo in package xml
0.1.0 (2021-01-18)
- initial release
Package Dependencies
Deps | Name |
---|---|
ament_cmake | |
ament_lint_auto | |
ament_cmake_cppcheck | |
ament_cmake_xmllint | |
rclcpp | |
rclcpp_components | |
sensor_msgs | |
stereo_msgs | |
diagnostic_updater | |
image_transport | |
rc_common_msgs | |
rc_genicam_api |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged rc_genicam_driver at Robotics Stack Exchange
![]() |
rc_genicam_driver package from rc_genicam_driver reporc_genicam_driver |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.3.1 |
License | BSD |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/roboception/rc_genicam_driver_ros2.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-13 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Felix Ruess
- Heiko Hirschmueller
Authors
rc_genicam_driver for ROS2
ROS2 driver to configure a Roboception rc_visard or rc_cube and receive images.
Please also consult the manuals for more details:
- https://doc.rc-visard.com
- https://doc.rc-cube.com
GenICam GenTL Transport Layer
The rc_genicam_driver uses rc_genicam_api
for interfacing with the rc_visard or rc_cube via GenICam/GigE Vision and requires a
transport layer called a GenTL producer (shared library with the suffix .cti
).
For convenience rc_genicam_api comes with producers from Baumer for common
architectures.
The path to the producer can be set with the GENICAM_GENTL64_PATH
environment variable (or GENICAM_GENTL32_PATH
for 32 bit systems).
If not set, rc_genicam_driver will fall back to searching for the Baumer
producer where rc_genicam_api is installed.
If the producer .cti can’t be found and you will get an error message like
[ERROR] [1512568083.512790905]: No transport layers found in path /opt/ros/melodic/lib/rc_genicam_api
In this case you need either need to actually install rc_genicam_api properly or set the environment variable when running it. E.g. export:
GENICAM_GENTL64_PATH=/path/to/rc_genicam_api/baumer/Ubuntu-18.04/x86_64
Configuration
Read-only parameters
Parameters to be set to the ROS param server before run-time.
-
device
: The ID of the device, e.g. Roboception rc_visard sensor or rc_cube. This can be either the-
serial number, e.g.
02912345
IMPORTANT: preceed with a colon (
:02912345
) when passing this on the commandline or setting it via rosparam (see https://github.com/ros/ros_comm/issues/1339). This is not neccessary when specifying it as a string in a launch file. -
user defined name (factory default is the name of the rc_visard’s model), must be unique among all reachable sensors
-
internal ID, which is generated by the used GenTL producer. Often, this ID contains the MAC address in some way. This ID can change with the implementation of the transport layer.
See https://github.com/roboception/rc_genicam_api#device-id for more details. By default this parameter is set to
*
, which works with if only one compatible device can be found on the network. -
At runtime changeable parameters
These parameters can be changed during runtime. Parameters will not be declared if they are not available on the device. This can happen if the device firmware is old and does not offer the parameter.
-
ptp_enabled
: Enable PTP slave (PrecisionTimeProtocol, IEEE1588) -
camera_fps
: Frames per second that are published by this node. Publishing frames will be slowed down depending on this setting. Setting it higher than the real framerate of the specific device has no effect. -
camera_exp_auto
: This parameter has been removed. Please use camera_exp_control instead. -
camera_exp_control
: Expose control mode which can be “Manual” for setting exposure time and gain via camera_exp_value and camera_gain_value, “Auto” for auto exposure or “HDR” for high dynamic range mode. Default: Auto. -
camera_exp_auto_mode
Auto-exposure mode which can be “Normal”, “Out1High” or “AdaptiveOut1”. Default: Normal. -
camera_exp_max
: Maximum exposure time in seconds if exp_auto is true. -
camera_exp_auto_average_max
: The auto exposure tries to set the exposure time and gain factor such that the average image intensity is between an upper and a lower bound. This parameter defines the upper bound. It can be reached if there is no saturation (e.g. due to reflections). -
camera_exp_auto_average_min
: Seecamera_exp_auto_average_max
. This parameter defines the lower bound. The average image intensity can be reduced to this value to reduce or avoid saturation (e.g. due to reflections).
File truncated at 100 lines see the full file
0.3.1 (2024-06-07)
- Fix: parameter 'camera_wb_red' cannot be set
- Fixed limiting float parameters to avoid errors due to rounding
- Fix: don't treat unknown parameters as error in the parameter callback (e.g. for new enable_pub_plugins param injected by image_transport)
- Fix: Declaring parameters dynamic so that undeclaring works on cleanup
0.3.0 (2023-03-10)
- Replaced parameter camera_exp_auto by camera_exp_control and camera_exp_auto_mode for consistency
- Change parameters camera_exp_max and camera_exp_value so unit seconds for consistency
- Added Gamma parameter
- only publish high/low if the publisher exists
- fix if iocontrol is not available
0.2.1 (2021-11-15)
- Add exposure_adapt_timeout parameter
- warn instead of info if parameter can't be set
- fix line_source and add more extra_data to CameraParam
0.2.0 (2021-08-02)
For supporting rc_sgm_producer:
- Extend color format to RGB8 for ros foxy
- Using parameter PtpEnable instead of deprecated parameter GevIEEE1588
0.1.4 (2021-02-11)
- Accept devices from vendor Roboception or if model is rc_visard or rc_cube
0.1.3 (2021-02-02)
- Use image_transport.hpp to get rid of a warning and hence drop eloquent support
- Use C-strings for RCLCPP macros to support rolling
0.1.2 (2021-01-29)
- fix linking problems
0.1.1 (2021-01-18)
- fix typo in package xml
0.1.0 (2021-01-18)
- initial release
Package Dependencies
Deps | Name |
---|---|
ament_cmake | |
ament_lint_auto | |
ament_cmake_cppcheck | |
ament_cmake_xmllint | |
rclcpp | |
rclcpp_components | |
sensor_msgs | |
stereo_msgs | |
diagnostic_updater | |
image_transport | |
rc_common_msgs | |
rc_genicam_api |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged rc_genicam_driver at Robotics Stack Exchange
![]() |
rc_genicam_driver package from rc_genicam_driver reporc_genicam_driver |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.3.1 |
License | BSD |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/roboception/rc_genicam_driver_ros2.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-13 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Felix Ruess
- Heiko Hirschmueller
Authors
rc_genicam_driver for ROS2
ROS2 driver to configure a Roboception rc_visard or rc_cube and receive images.
Please also consult the manuals for more details:
- https://doc.rc-visard.com
- https://doc.rc-cube.com
GenICam GenTL Transport Layer
The rc_genicam_driver uses rc_genicam_api
for interfacing with the rc_visard or rc_cube via GenICam/GigE Vision and requires a
transport layer called a GenTL producer (shared library with the suffix .cti
).
For convenience rc_genicam_api comes with producers from Baumer for common
architectures.
The path to the producer can be set with the GENICAM_GENTL64_PATH
environment variable (or GENICAM_GENTL32_PATH
for 32 bit systems).
If not set, rc_genicam_driver will fall back to searching for the Baumer
producer where rc_genicam_api is installed.
If the producer .cti can’t be found and you will get an error message like
[ERROR] [1512568083.512790905]: No transport layers found in path /opt/ros/melodic/lib/rc_genicam_api
In this case you need either need to actually install rc_genicam_api properly or set the environment variable when running it. E.g. export:
GENICAM_GENTL64_PATH=/path/to/rc_genicam_api/baumer/Ubuntu-18.04/x86_64
Configuration
Read-only parameters
Parameters to be set to the ROS param server before run-time.
-
device
: The ID of the device, e.g. Roboception rc_visard sensor or rc_cube. This can be either the-
serial number, e.g.
02912345
IMPORTANT: preceed with a colon (
:02912345
) when passing this on the commandline or setting it via rosparam (see https://github.com/ros/ros_comm/issues/1339). This is not neccessary when specifying it as a string in a launch file. -
user defined name (factory default is the name of the rc_visard’s model), must be unique among all reachable sensors
-
internal ID, which is generated by the used GenTL producer. Often, this ID contains the MAC address in some way. This ID can change with the implementation of the transport layer.
See https://github.com/roboception/rc_genicam_api#device-id for more details. By default this parameter is set to
*
, which works with if only one compatible device can be found on the network. -
At runtime changeable parameters
These parameters can be changed during runtime. Parameters will not be declared if they are not available on the device. This can happen if the device firmware is old and does not offer the parameter.
-
ptp_enabled
: Enable PTP slave (PrecisionTimeProtocol, IEEE1588) -
camera_fps
: Frames per second that are published by this node. Publishing frames will be slowed down depending on this setting. Setting it higher than the real framerate of the specific device has no effect. -
camera_exp_auto
: This parameter has been removed. Please use camera_exp_control instead. -
camera_exp_control
: Expose control mode which can be “Manual” for setting exposure time and gain via camera_exp_value and camera_gain_value, “Auto” for auto exposure or “HDR” for high dynamic range mode. Default: Auto. -
camera_exp_auto_mode
Auto-exposure mode which can be “Normal”, “Out1High” or “AdaptiveOut1”. Default: Normal. -
camera_exp_max
: Maximum exposure time in seconds if exp_auto is true. -
camera_exp_auto_average_max
: The auto exposure tries to set the exposure time and gain factor such that the average image intensity is between an upper and a lower bound. This parameter defines the upper bound. It can be reached if there is no saturation (e.g. due to reflections). -
camera_exp_auto_average_min
: Seecamera_exp_auto_average_max
. This parameter defines the lower bound. The average image intensity can be reduced to this value to reduce or avoid saturation (e.g. due to reflections).
File truncated at 100 lines see the full file
0.3.1 (2024-06-07)
- Fix: parameter 'camera_wb_red' cannot be set
- Fixed limiting float parameters to avoid errors due to rounding
- Fix: don't treat unknown parameters as error in the parameter callback (e.g. for new enable_pub_plugins param injected by image_transport)
- Fix: Declaring parameters dynamic so that undeclaring works on cleanup
0.3.0 (2023-03-10)
- Replaced parameter camera_exp_auto by camera_exp_control and camera_exp_auto_mode for consistency
- Change parameters camera_exp_max and camera_exp_value so unit seconds for consistency
- Added Gamma parameter
- only publish high/low if the publisher exists
- fix if iocontrol is not available
0.2.1 (2021-11-15)
- Add exposure_adapt_timeout parameter
- warn instead of info if parameter can't be set
- fix line_source and add more extra_data to CameraParam
0.2.0 (2021-08-02)
For supporting rc_sgm_producer:
- Extend color format to RGB8 for ros foxy
- Using parameter PtpEnable instead of deprecated parameter GevIEEE1588
0.1.4 (2021-02-11)
- Accept devices from vendor Roboception or if model is rc_visard or rc_cube
0.1.3 (2021-02-02)
- Use image_transport.hpp to get rid of a warning and hence drop eloquent support
- Use C-strings for RCLCPP macros to support rolling
0.1.2 (2021-01-29)
- fix linking problems
0.1.1 (2021-01-18)
- fix typo in package xml
0.1.0 (2021-01-18)
- initial release
Package Dependencies
Deps | Name |
---|---|
ament_cmake | |
ament_lint_auto | |
ament_cmake_cppcheck | |
ament_cmake_xmllint | |
rclcpp | |
rclcpp_components | |
sensor_msgs | |
stereo_msgs | |
diagnostic_updater | |
image_transport | |
rc_common_msgs | |
rc_genicam_api |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged rc_genicam_driver at Robotics Stack Exchange
![]() |
rc_genicam_driver package from rc_genicam_driver reporc_genicam_driver |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.3.1 |
License | BSD |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/roboception/rc_genicam_driver_ros2.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-13 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Felix Ruess
- Heiko Hirschmueller
Authors
rc_genicam_driver for ROS2
ROS2 driver to configure a Roboception rc_visard or rc_cube and receive images.
Please also consult the manuals for more details:
- https://doc.rc-visard.com
- https://doc.rc-cube.com
GenICam GenTL Transport Layer
The rc_genicam_driver uses rc_genicam_api
for interfacing with the rc_visard or rc_cube via GenICam/GigE Vision and requires a
transport layer called a GenTL producer (shared library with the suffix .cti
).
For convenience rc_genicam_api comes with producers from Baumer for common
architectures.
The path to the producer can be set with the GENICAM_GENTL64_PATH
environment variable (or GENICAM_GENTL32_PATH
for 32 bit systems).
If not set, rc_genicam_driver will fall back to searching for the Baumer
producer where rc_genicam_api is installed.
If the producer .cti can’t be found and you will get an error message like
[ERROR] [1512568083.512790905]: No transport layers found in path /opt/ros/melodic/lib/rc_genicam_api
In this case you need either need to actually install rc_genicam_api properly or set the environment variable when running it. E.g. export:
GENICAM_GENTL64_PATH=/path/to/rc_genicam_api/baumer/Ubuntu-18.04/x86_64
Configuration
Read-only parameters
Parameters to be set to the ROS param server before run-time.
-
device
: The ID of the device, e.g. Roboception rc_visard sensor or rc_cube. This can be either the-
serial number, e.g.
02912345
IMPORTANT: preceed with a colon (
:02912345
) when passing this on the commandline or setting it via rosparam (see https://github.com/ros/ros_comm/issues/1339). This is not neccessary when specifying it as a string in a launch file. -
user defined name (factory default is the name of the rc_visard’s model), must be unique among all reachable sensors
-
internal ID, which is generated by the used GenTL producer. Often, this ID contains the MAC address in some way. This ID can change with the implementation of the transport layer.
See https://github.com/roboception/rc_genicam_api#device-id for more details. By default this parameter is set to
*
, which works with if only one compatible device can be found on the network. -
At runtime changeable parameters
These parameters can be changed during runtime. Parameters will not be declared if they are not available on the device. This can happen if the device firmware is old and does not offer the parameter.
-
ptp_enabled
: Enable PTP slave (PrecisionTimeProtocol, IEEE1588) -
camera_fps
: Frames per second that are published by this node. Publishing frames will be slowed down depending on this setting. Setting it higher than the real framerate of the specific device has no effect. -
camera_exp_auto
: This parameter has been removed. Please use camera_exp_control instead. -
camera_exp_control
: Expose control mode which can be “Manual” for setting exposure time and gain via camera_exp_value and camera_gain_value, “Auto” for auto exposure or “HDR” for high dynamic range mode. Default: Auto. -
camera_exp_auto_mode
Auto-exposure mode which can be “Normal”, “Out1High” or “AdaptiveOut1”. Default: Normal. -
camera_exp_max
: Maximum exposure time in seconds if exp_auto is true. -
camera_exp_auto_average_max
: The auto exposure tries to set the exposure time and gain factor such that the average image intensity is between an upper and a lower bound. This parameter defines the upper bound. It can be reached if there is no saturation (e.g. due to reflections). -
camera_exp_auto_average_min
: Seecamera_exp_auto_average_max
. This parameter defines the lower bound. The average image intensity can be reduced to this value to reduce or avoid saturation (e.g. due to reflections).
File truncated at 100 lines see the full file
0.3.1 (2024-06-07)
- Fix: parameter 'camera_wb_red' cannot be set
- Fixed limiting float parameters to avoid errors due to rounding
- Fix: don't treat unknown parameters as error in the parameter callback (e.g. for new enable_pub_plugins param injected by image_transport)
- Fix: Declaring parameters dynamic so that undeclaring works on cleanup
0.3.0 (2023-03-10)
- Replaced parameter camera_exp_auto by camera_exp_control and camera_exp_auto_mode for consistency
- Change parameters camera_exp_max and camera_exp_value so unit seconds for consistency
- Added Gamma parameter
- only publish high/low if the publisher exists
- fix if iocontrol is not available
0.2.1 (2021-11-15)
- Add exposure_adapt_timeout parameter
- warn instead of info if parameter can't be set
- fix line_source and add more extra_data to CameraParam
0.2.0 (2021-08-02)
For supporting rc_sgm_producer:
- Extend color format to RGB8 for ros foxy
- Using parameter PtpEnable instead of deprecated parameter GevIEEE1588
0.1.4 (2021-02-11)
- Accept devices from vendor Roboception or if model is rc_visard or rc_cube
0.1.3 (2021-02-02)
- Use image_transport.hpp to get rid of a warning and hence drop eloquent support
- Use C-strings for RCLCPP macros to support rolling
0.1.2 (2021-01-29)
- fix linking problems
0.1.1 (2021-01-18)
- fix typo in package xml
0.1.0 (2021-01-18)
- initial release
Package Dependencies
Deps | Name |
---|---|
ament_cmake | |
ament_lint_auto | |
ament_cmake_cppcheck | |
ament_cmake_xmllint | |
rclcpp | |
rclcpp_components | |
sensor_msgs | |
stereo_msgs | |
diagnostic_updater | |
image_transport | |
rc_common_msgs | |
rc_genicam_api |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged rc_genicam_driver at Robotics Stack Exchange
![]() |
rc_genicam_driver package from rc_genicam_driver reporc_genicam_driver |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.3.1 |
License | BSD |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/roboception/rc_genicam_driver_ros2.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-13 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Felix Ruess
- Heiko Hirschmueller
Authors
rc_genicam_driver for ROS2
ROS2 driver to configure a Roboception rc_visard or rc_cube and receive images.
Please also consult the manuals for more details:
- https://doc.rc-visard.com
- https://doc.rc-cube.com
GenICam GenTL Transport Layer
The rc_genicam_driver uses rc_genicam_api
for interfacing with the rc_visard or rc_cube via GenICam/GigE Vision and requires a
transport layer called a GenTL producer (shared library with the suffix .cti
).
For convenience rc_genicam_api comes with producers from Baumer for common
architectures.
The path to the producer can be set with the GENICAM_GENTL64_PATH
environment variable (or GENICAM_GENTL32_PATH
for 32 bit systems).
If not set, rc_genicam_driver will fall back to searching for the Baumer
producer where rc_genicam_api is installed.
If the producer .cti can’t be found and you will get an error message like
[ERROR] [1512568083.512790905]: No transport layers found in path /opt/ros/melodic/lib/rc_genicam_api
In this case you need either need to actually install rc_genicam_api properly or set the environment variable when running it. E.g. export:
GENICAM_GENTL64_PATH=/path/to/rc_genicam_api/baumer/Ubuntu-18.04/x86_64
Configuration
Read-only parameters
Parameters to be set to the ROS param server before run-time.
-
device
: The ID of the device, e.g. Roboception rc_visard sensor or rc_cube. This can be either the-
serial number, e.g.
02912345
IMPORTANT: preceed with a colon (
:02912345
) when passing this on the commandline or setting it via rosparam (see https://github.com/ros/ros_comm/issues/1339). This is not neccessary when specifying it as a string in a launch file. -
user defined name (factory default is the name of the rc_visard’s model), must be unique among all reachable sensors
-
internal ID, which is generated by the used GenTL producer. Often, this ID contains the MAC address in some way. This ID can change with the implementation of the transport layer.
See https://github.com/roboception/rc_genicam_api#device-id for more details. By default this parameter is set to
*
, which works with if only one compatible device can be found on the network. -
At runtime changeable parameters
These parameters can be changed during runtime. Parameters will not be declared if they are not available on the device. This can happen if the device firmware is old and does not offer the parameter.
-
ptp_enabled
: Enable PTP slave (PrecisionTimeProtocol, IEEE1588) -
camera_fps
: Frames per second that are published by this node. Publishing frames will be slowed down depending on this setting. Setting it higher than the real framerate of the specific device has no effect. -
camera_exp_auto
: This parameter has been removed. Please use camera_exp_control instead. -
camera_exp_control
: Expose control mode which can be “Manual” for setting exposure time and gain via camera_exp_value and camera_gain_value, “Auto” for auto exposure or “HDR” for high dynamic range mode. Default: Auto. -
camera_exp_auto_mode
Auto-exposure mode which can be “Normal”, “Out1High” or “AdaptiveOut1”. Default: Normal. -
camera_exp_max
: Maximum exposure time in seconds if exp_auto is true. -
camera_exp_auto_average_max
: The auto exposure tries to set the exposure time and gain factor such that the average image intensity is between an upper and a lower bound. This parameter defines the upper bound. It can be reached if there is no saturation (e.g. due to reflections). -
camera_exp_auto_average_min
: Seecamera_exp_auto_average_max
. This parameter defines the lower bound. The average image intensity can be reduced to this value to reduce or avoid saturation (e.g. due to reflections).
File truncated at 100 lines see the full file
0.3.1 (2024-06-07)
- Fix: parameter 'camera_wb_red' cannot be set
- Fixed limiting float parameters to avoid errors due to rounding
- Fix: don't treat unknown parameters as error in the parameter callback (e.g. for new enable_pub_plugins param injected by image_transport)
- Fix: Declaring parameters dynamic so that undeclaring works on cleanup
0.3.0 (2023-03-10)
- Replaced parameter camera_exp_auto by camera_exp_control and camera_exp_auto_mode for consistency
- Change parameters camera_exp_max and camera_exp_value so unit seconds for consistency
- Added Gamma parameter
- only publish high/low if the publisher exists
- fix if iocontrol is not available
0.2.1 (2021-11-15)
- Add exposure_adapt_timeout parameter
- warn instead of info if parameter can't be set
- fix line_source and add more extra_data to CameraParam
0.2.0 (2021-08-02)
For supporting rc_sgm_producer:
- Extend color format to RGB8 for ros foxy
- Using parameter PtpEnable instead of deprecated parameter GevIEEE1588
0.1.4 (2021-02-11)
- Accept devices from vendor Roboception or if model is rc_visard or rc_cube
0.1.3 (2021-02-02)
- Use image_transport.hpp to get rid of a warning and hence drop eloquent support
- Use C-strings for RCLCPP macros to support rolling
0.1.2 (2021-01-29)
- fix linking problems
0.1.1 (2021-01-18)
- fix typo in package xml
0.1.0 (2021-01-18)
- initial release
Package Dependencies
Deps | Name |
---|---|
ament_cmake | |
ament_lint_auto | |
ament_cmake_cppcheck | |
ament_cmake_xmllint | |
rclcpp | |
rclcpp_components | |
sensor_msgs | |
stereo_msgs | |
diagnostic_updater | |
image_transport | |
rc_common_msgs | |
rc_genicam_api |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged rc_genicam_driver at Robotics Stack Exchange
![]() |
rc_genicam_driver package from rc_genicam_driver reporc_genicam_driver |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.3.1 |
License | BSD |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/roboception/rc_genicam_driver_ros2.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-13 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Felix Ruess
- Heiko Hirschmueller
Authors
rc_genicam_driver for ROS2
ROS2 driver to configure a Roboception rc_visard or rc_cube and receive images.
Please also consult the manuals for more details:
- https://doc.rc-visard.com
- https://doc.rc-cube.com
GenICam GenTL Transport Layer
The rc_genicam_driver uses rc_genicam_api
for interfacing with the rc_visard or rc_cube via GenICam/GigE Vision and requires a
transport layer called a GenTL producer (shared library with the suffix .cti
).
For convenience rc_genicam_api comes with producers from Baumer for common
architectures.
The path to the producer can be set with the GENICAM_GENTL64_PATH
environment variable (or GENICAM_GENTL32_PATH
for 32 bit systems).
If not set, rc_genicam_driver will fall back to searching for the Baumer
producer where rc_genicam_api is installed.
If the producer .cti can’t be found and you will get an error message like
[ERROR] [1512568083.512790905]: No transport layers found in path /opt/ros/melodic/lib/rc_genicam_api
In this case you need either need to actually install rc_genicam_api properly or set the environment variable when running it. E.g. export:
GENICAM_GENTL64_PATH=/path/to/rc_genicam_api/baumer/Ubuntu-18.04/x86_64
Configuration
Read-only parameters
Parameters to be set to the ROS param server before run-time.
-
device
: The ID of the device, e.g. Roboception rc_visard sensor or rc_cube. This can be either the-
serial number, e.g.
02912345
IMPORTANT: preceed with a colon (
:02912345
) when passing this on the commandline or setting it via rosparam (see https://github.com/ros/ros_comm/issues/1339). This is not neccessary when specifying it as a string in a launch file. -
user defined name (factory default is the name of the rc_visard’s model), must be unique among all reachable sensors
-
internal ID, which is generated by the used GenTL producer. Often, this ID contains the MAC address in some way. This ID can change with the implementation of the transport layer.
See https://github.com/roboception/rc_genicam_api#device-id for more details. By default this parameter is set to
*
, which works with if only one compatible device can be found on the network. -
At runtime changeable parameters
These parameters can be changed during runtime. Parameters will not be declared if they are not available on the device. This can happen if the device firmware is old and does not offer the parameter.
-
ptp_enabled
: Enable PTP slave (PrecisionTimeProtocol, IEEE1588) -
camera_fps
: Frames per second that are published by this node. Publishing frames will be slowed down depending on this setting. Setting it higher than the real framerate of the specific device has no effect. -
camera_exp_auto
: This parameter has been removed. Please use camera_exp_control instead. -
camera_exp_control
: Expose control mode which can be “Manual” for setting exposure time and gain via camera_exp_value and camera_gain_value, “Auto” for auto exposure or “HDR” for high dynamic range mode. Default: Auto. -
camera_exp_auto_mode
Auto-exposure mode which can be “Normal”, “Out1High” or “AdaptiveOut1”. Default: Normal. -
camera_exp_max
: Maximum exposure time in seconds if exp_auto is true. -
camera_exp_auto_average_max
: The auto exposure tries to set the exposure time and gain factor such that the average image intensity is between an upper and a lower bound. This parameter defines the upper bound. It can be reached if there is no saturation (e.g. due to reflections). -
camera_exp_auto_average_min
: Seecamera_exp_auto_average_max
. This parameter defines the lower bound. The average image intensity can be reduced to this value to reduce or avoid saturation (e.g. due to reflections).
File truncated at 100 lines see the full file
0.3.1 (2024-06-07)
- Fix: parameter 'camera_wb_red' cannot be set
- Fixed limiting float parameters to avoid errors due to rounding
- Fix: don't treat unknown parameters as error in the parameter callback (e.g. for new enable_pub_plugins param injected by image_transport)
- Fix: Declaring parameters dynamic so that undeclaring works on cleanup
0.3.0 (2023-03-10)
- Replaced parameter camera_exp_auto by camera_exp_control and camera_exp_auto_mode for consistency
- Change parameters camera_exp_max and camera_exp_value so unit seconds for consistency
- Added Gamma parameter
- only publish high/low if the publisher exists
- fix if iocontrol is not available
0.2.1 (2021-11-15)
- Add exposure_adapt_timeout parameter
- warn instead of info if parameter can't be set
- fix line_source and add more extra_data to CameraParam
0.2.0 (2021-08-02)
For supporting rc_sgm_producer:
- Extend color format to RGB8 for ros foxy
- Using parameter PtpEnable instead of deprecated parameter GevIEEE1588
0.1.4 (2021-02-11)
- Accept devices from vendor Roboception or if model is rc_visard or rc_cube
0.1.3 (2021-02-02)
- Use image_transport.hpp to get rid of a warning and hence drop eloquent support
- Use C-strings for RCLCPP macros to support rolling
0.1.2 (2021-01-29)
- fix linking problems
0.1.1 (2021-01-18)
- fix typo in package xml
0.1.0 (2021-01-18)
- initial release
Package Dependencies
Deps | Name |
---|---|
ament_cmake | |
ament_lint_auto | |
ament_cmake_cppcheck | |
ament_cmake_xmllint | |
rclcpp | |
rclcpp_components | |
sensor_msgs | |
stereo_msgs | |
diagnostic_updater | |
image_transport | |
rc_common_msgs | |
rc_genicam_api |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged rc_genicam_driver at Robotics Stack Exchange
![]() |
rc_genicam_driver package from rc_genicam_driver reporc_genicam_driver |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.3.1 |
License | BSD |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/roboception/rc_genicam_driver_ros2.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-13 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Felix Ruess
- Heiko Hirschmueller
Authors
rc_genicam_driver for ROS2
ROS2 driver to configure a Roboception rc_visard or rc_cube and receive images.
Please also consult the manuals for more details:
- https://doc.rc-visard.com
- https://doc.rc-cube.com
GenICam GenTL Transport Layer
The rc_genicam_driver uses rc_genicam_api
for interfacing with the rc_visard or rc_cube via GenICam/GigE Vision and requires a
transport layer called a GenTL producer (shared library with the suffix .cti
).
For convenience rc_genicam_api comes with producers from Baumer for common
architectures.
The path to the producer can be set with the GENICAM_GENTL64_PATH
environment variable (or GENICAM_GENTL32_PATH
for 32 bit systems).
If not set, rc_genicam_driver will fall back to searching for the Baumer
producer where rc_genicam_api is installed.
If the producer .cti can’t be found and you will get an error message like
[ERROR] [1512568083.512790905]: No transport layers found in path /opt/ros/melodic/lib/rc_genicam_api
In this case you need either need to actually install rc_genicam_api properly or set the environment variable when running it. E.g. export:
GENICAM_GENTL64_PATH=/path/to/rc_genicam_api/baumer/Ubuntu-18.04/x86_64
Configuration
Read-only parameters
Parameters to be set to the ROS param server before run-time.
-
device
: The ID of the device, e.g. Roboception rc_visard sensor or rc_cube. This can be either the-
serial number, e.g.
02912345
IMPORTANT: preceed with a colon (
:02912345
) when passing this on the commandline or setting it via rosparam (see https://github.com/ros/ros_comm/issues/1339). This is not neccessary when specifying it as a string in a launch file. -
user defined name (factory default is the name of the rc_visard’s model), must be unique among all reachable sensors
-
internal ID, which is generated by the used GenTL producer. Often, this ID contains the MAC address in some way. This ID can change with the implementation of the transport layer.
See https://github.com/roboception/rc_genicam_api#device-id for more details. By default this parameter is set to
*
, which works with if only one compatible device can be found on the network. -
At runtime changeable parameters
These parameters can be changed during runtime. Parameters will not be declared if they are not available on the device. This can happen if the device firmware is old and does not offer the parameter.
-
ptp_enabled
: Enable PTP slave (PrecisionTimeProtocol, IEEE1588) -
camera_fps
: Frames per second that are published by this node. Publishing frames will be slowed down depending on this setting. Setting it higher than the real framerate of the specific device has no effect. -
camera_exp_auto
: This parameter has been removed. Please use camera_exp_control instead. -
camera_exp_control
: Expose control mode which can be “Manual” for setting exposure time and gain via camera_exp_value and camera_gain_value, “Auto” for auto exposure or “HDR” for high dynamic range mode. Default: Auto. -
camera_exp_auto_mode
Auto-exposure mode which can be “Normal”, “Out1High” or “AdaptiveOut1”. Default: Normal. -
camera_exp_max
: Maximum exposure time in seconds if exp_auto is true. -
camera_exp_auto_average_max
: The auto exposure tries to set the exposure time and gain factor such that the average image intensity is between an upper and a lower bound. This parameter defines the upper bound. It can be reached if there is no saturation (e.g. due to reflections). -
camera_exp_auto_average_min
: Seecamera_exp_auto_average_max
. This parameter defines the lower bound. The average image intensity can be reduced to this value to reduce or avoid saturation (e.g. due to reflections).
File truncated at 100 lines see the full file
0.3.1 (2024-06-07)
- Fix: parameter 'camera_wb_red' cannot be set
- Fixed limiting float parameters to avoid errors due to rounding
- Fix: don't treat unknown parameters as error in the parameter callback (e.g. for new enable_pub_plugins param injected by image_transport)
- Fix: Declaring parameters dynamic so that undeclaring works on cleanup
0.3.0 (2023-03-10)
- Replaced parameter camera_exp_auto by camera_exp_control and camera_exp_auto_mode for consistency
- Change parameters camera_exp_max and camera_exp_value so unit seconds for consistency
- Added Gamma parameter
- only publish high/low if the publisher exists
- fix if iocontrol is not available
0.2.1 (2021-11-15)
- Add exposure_adapt_timeout parameter
- warn instead of info if parameter can't be set
- fix line_source and add more extra_data to CameraParam
0.2.0 (2021-08-02)
For supporting rc_sgm_producer:
- Extend color format to RGB8 for ros foxy
- Using parameter PtpEnable instead of deprecated parameter GevIEEE1588
0.1.4 (2021-02-11)
- Accept devices from vendor Roboception or if model is rc_visard or rc_cube
0.1.3 (2021-02-02)
- Use image_transport.hpp to get rid of a warning and hence drop eloquent support
- Use C-strings for RCLCPP macros to support rolling
0.1.2 (2021-01-29)
- fix linking problems
0.1.1 (2021-01-18)
- fix typo in package xml
0.1.0 (2021-01-18)
- initial release
Package Dependencies
Deps | Name |
---|---|
ament_cmake | |
ament_lint_auto | |
ament_cmake_cppcheck | |
ament_cmake_xmllint | |
rclcpp | |
rclcpp_components | |
sensor_msgs | |
stereo_msgs | |
diagnostic_updater | |
image_transport | |
rc_common_msgs | |
rc_genicam_api |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged rc_genicam_driver at Robotics Stack Exchange
![]() |
rc_genicam_driver package from rc_genicam_driver reporc_genicam_driver |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.3.1 |
License | BSD |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/roboception/rc_genicam_driver_ros2.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-13 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Felix Ruess
- Heiko Hirschmueller
Authors
rc_genicam_driver for ROS2
ROS2 driver to configure a Roboception rc_visard or rc_cube and receive images.
Please also consult the manuals for more details:
- https://doc.rc-visard.com
- https://doc.rc-cube.com
GenICam GenTL Transport Layer
The rc_genicam_driver uses rc_genicam_api
for interfacing with the rc_visard or rc_cube via GenICam/GigE Vision and requires a
transport layer called a GenTL producer (shared library with the suffix .cti
).
For convenience rc_genicam_api comes with producers from Baumer for common
architectures.
The path to the producer can be set with the GENICAM_GENTL64_PATH
environment variable (or GENICAM_GENTL32_PATH
for 32 bit systems).
If not set, rc_genicam_driver will fall back to searching for the Baumer
producer where rc_genicam_api is installed.
If the producer .cti can’t be found and you will get an error message like
[ERROR] [1512568083.512790905]: No transport layers found in path /opt/ros/melodic/lib/rc_genicam_api
In this case you need either need to actually install rc_genicam_api properly or set the environment variable when running it. E.g. export:
GENICAM_GENTL64_PATH=/path/to/rc_genicam_api/baumer/Ubuntu-18.04/x86_64
Configuration
Read-only parameters
Parameters to be set to the ROS param server before run-time.
-
device
: The ID of the device, e.g. Roboception rc_visard sensor or rc_cube. This can be either the-
serial number, e.g.
02912345
IMPORTANT: preceed with a colon (
:02912345
) when passing this on the commandline or setting it via rosparam (see https://github.com/ros/ros_comm/issues/1339). This is not neccessary when specifying it as a string in a launch file. -
user defined name (factory default is the name of the rc_visard’s model), must be unique among all reachable sensors
-
internal ID, which is generated by the used GenTL producer. Often, this ID contains the MAC address in some way. This ID can change with the implementation of the transport layer.
See https://github.com/roboception/rc_genicam_api#device-id for more details. By default this parameter is set to
*
, which works with if only one compatible device can be found on the network. -
At runtime changeable parameters
These parameters can be changed during runtime. Parameters will not be declared if they are not available on the device. This can happen if the device firmware is old and does not offer the parameter.
-
ptp_enabled
: Enable PTP slave (PrecisionTimeProtocol, IEEE1588) -
camera_fps
: Frames per second that are published by this node. Publishing frames will be slowed down depending on this setting. Setting it higher than the real framerate of the specific device has no effect. -
camera_exp_auto
: This parameter has been removed. Please use camera_exp_control instead. -
camera_exp_control
: Expose control mode which can be “Manual” for setting exposure time and gain via camera_exp_value and camera_gain_value, “Auto” for auto exposure or “HDR” for high dynamic range mode. Default: Auto. -
camera_exp_auto_mode
Auto-exposure mode which can be “Normal”, “Out1High” or “AdaptiveOut1”. Default: Normal. -
camera_exp_max
: Maximum exposure time in seconds if exp_auto is true. -
camera_exp_auto_average_max
: The auto exposure tries to set the exposure time and gain factor such that the average image intensity is between an upper and a lower bound. This parameter defines the upper bound. It can be reached if there is no saturation (e.g. due to reflections). -
camera_exp_auto_average_min
: Seecamera_exp_auto_average_max
. This parameter defines the lower bound. The average image intensity can be reduced to this value to reduce or avoid saturation (e.g. due to reflections).
File truncated at 100 lines see the full file
0.3.1 (2024-06-07)
- Fix: parameter 'camera_wb_red' cannot be set
- Fixed limiting float parameters to avoid errors due to rounding
- Fix: don't treat unknown parameters as error in the parameter callback (e.g. for new enable_pub_plugins param injected by image_transport)
- Fix: Declaring parameters dynamic so that undeclaring works on cleanup
0.3.0 (2023-03-10)
- Replaced parameter camera_exp_auto by camera_exp_control and camera_exp_auto_mode for consistency
- Change parameters camera_exp_max and camera_exp_value so unit seconds for consistency
- Added Gamma parameter
- only publish high/low if the publisher exists
- fix if iocontrol is not available
0.2.1 (2021-11-15)
- Add exposure_adapt_timeout parameter
- warn instead of info if parameter can't be set
- fix line_source and add more extra_data to CameraParam
0.2.0 (2021-08-02)
For supporting rc_sgm_producer:
- Extend color format to RGB8 for ros foxy
- Using parameter PtpEnable instead of deprecated parameter GevIEEE1588
0.1.4 (2021-02-11)
- Accept devices from vendor Roboception or if model is rc_visard or rc_cube
0.1.3 (2021-02-02)
- Use image_transport.hpp to get rid of a warning and hence drop eloquent support
- Use C-strings for RCLCPP macros to support rolling
0.1.2 (2021-01-29)
- fix linking problems
0.1.1 (2021-01-18)
- fix typo in package xml
0.1.0 (2021-01-18)
- initial release
Package Dependencies
Deps | Name |
---|---|
ament_cmake | |
ament_lint_auto | |
ament_cmake_cppcheck | |
ament_cmake_xmllint | |
rclcpp | |
rclcpp_components | |
sensor_msgs | |
stereo_msgs | |
diagnostic_updater | |
image_transport | |
rc_common_msgs | |
rc_genicam_api |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged rc_genicam_driver at Robotics Stack Exchange
![]() |
rc_genicam_driver package from rc_genicam_driver reporc_genicam_driver |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.7.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/roboception/rc_genicam_driver_ros.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2024-10-24 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Felix Ruess
Authors
- Heiko Hirschmueller
- Felix Ruess
rc_genicam_driver
Nodelet/node providing a ROS interface to configure a Roboception rc_visard or rc_cube and receive images.
Please also consult the manuals for more details:
- https://doc.rc-visard.com
- https://doc.rc-cube.com
Installation
On Debian/Ubuntu add the ROS sources and
sudo apt-get install ros-${ROS_DISTRO}-rc-genicam-driver
From Source
This rc_genicam_driver depends on
The dependencies can also be installed via rosdep.
rosdep install --from-paths rc_genicam_driver --ignore-src rc_genicam_driver -r -y
Building and installing the package follows the typical ROS catkin workflow.
As an alternative, the cmake build-flow would be something like
mkdir build && cd build
cmake -DCATKIN_BUILD_BINARY_PACKAGE="1" -DCMAKE_INSTALL_PREFIX="/opt/ros/$ROS_DISTRO" -DCMAKE_PREFIX_PATH="/opt/ros/$ROS_DISTRO" -DCMAKE_BUILD_TYPE=Release ..
make
make install
Alternatively, instead of the final make install
, you can also use
make package
and sudo dpkg -i install ros-melodic-rc-genicam-driver_*.deb
.
GenICam GenTL Transport Layer
The rc_genicam_driver uses rc_genicam_api
for interfacing with the rc_visard or rc_cube via GenICam/GigE Vision and requires a
transport layer called a GenTL producer (shared library with the suffix .cti
).
For convenience rc_genicam_api comes with producers from Baumer for common
architectures.
The path to the producer can be set with the GENICAM_GENTL64_PATH
environment variable (or GENICAM_GENTL32_PATH
for 32 bit systems).
If not set, rc_genicam_driver will fall back to searching for the Baumer
producer where rc_genicam_api is installed.
If the producer .cti can’t be found and you will get an error message like
[ERROR] [1512568083.512790905]: No transport layers found in path /opt/ros/melodic/lib/rc_genicam_api
In this case you need either need to actually install rc_genicam_api properly or set the environment variable when running it. E.g. export:
GENICAM_GENTL64_PATH=/path/to/rc_genicam_api/baumer/Ubuntu-14.04/x86_64
Configuration
Parameters
Parameters to be set to the ROS param server before run-time.
-
device
: The ID of the device, e.g. Roboception rc_visard sensor or rc_cube. This can be either the-
serial number, e.g.
02912345
IMPORTANT: preceed with a colon (
:02912345
) when passing this on the commandline, setting it via rosparam or in the launch file (see https://github.com/ros/ros_comm/issues/1339). -
user defined name (factory default is the name of the rc_visard’s model), must be unique among all reachable sensors
-
internal ID, which is generated by the used GenTL producer. Often, this ID contains the MAC address in some way. This ID can change with the implementation of the transport layer.
See https://github.com/roboception/rc_genicam_api#device-id for more details. By default this parameter is set to
*
, which works with if only one compatible device can be found on the network. -
-
gev_access
: The gev_access mode, i.e.:
File truncated at 100 lines see the full file
Changelog for package rc_genicam_driver
0.7.0 (2023-03-09)
- Increased max limits of some parameters so that it works for rc_viscore as well as rc_visard
- Replaced parameter camera_exp_auto by camera_exp_control and added camera_gamma
- check device version before ready
0.6.3 (2021-11-15)
- Add exposure_adapt_timeout parameter
- update parameter description with enum values in square brackets
- fix line_source and add more extra_data to CameraParam
0.6.2 (2021-10-21)
- Controlling PtpEnable as optional so that this driver also works for rc_cube
0.6.1 (2021-08-02)
- Using parameter PtpEnable instead of deprecated parameter GevIEEE1588
0.6.0 (2021-08-02)
For supporting the rc_sgm_producer:
- Adding support for RGB color format
Other fixes:
- Fixed rounding when converting color to monochrome
- Increased tolerance for alternate exposure mode to 1 second
- Fixed warnings during compilation
0.5.2 (2021-05-26)
- Relaxed some non-critical parameters to be optional
0.5.1 (2021-02-11)
- Accept devices of vendor Roboception or if model name that starts with rc_visard or rc_cube
0.5.0 (2020-11-20)
- Publish images without filtering on image_rect(_color) topics
0.4.0 (2020-11-20)
- Added new parameter depth_double_shot
0.3.0 (2020-11-13)
- Renaming of adaptive_out1_reduction to out1_reduction
- Added new auto exposure mode Out1High
- Added reporting test flag, out1 reduction and brightness in camera parameter messages
- Update README
0.2.0 (2020-09-23)
- Removed parameter disprange and controlling disparity range via mindepth and maxdepth
- Changed log output from [ROS_]{.title-ref} to [NODELET_]{.title-ref}
0.1.0 (2020-07-31)
- Initial stable release, based on rc_visard_driver
Package Dependencies
Deps | Name |
---|---|
message_generation | |
catkin | |
message_runtime | |
rc_genicam_api | |
rc_common_msgs | |
nodelet | |
roscpp | |
sensor_msgs | |
stereo_msgs | |
image_transport | |
dynamic_reconfigure | |
geometry_msgs | |
tf | |
diagnostic_updater |
System Dependencies
Name |
---|
protobuf-dev |
protobuf |
doxygen |
curl |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged rc_genicam_driver at Robotics Stack Exchange
![]() |
rc_genicam_driver package from rc_genicam_driver reporc_genicam_driver |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.7.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/roboception/rc_genicam_driver_ros.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2024-10-24 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Felix Ruess
Authors
- Heiko Hirschmueller
- Felix Ruess
rc_genicam_driver
Nodelet/node providing a ROS interface to configure a Roboception rc_visard or rc_cube and receive images.
Please also consult the manuals for more details:
- https://doc.rc-visard.com
- https://doc.rc-cube.com
Installation
On Debian/Ubuntu add the ROS sources and
sudo apt-get install ros-${ROS_DISTRO}-rc-genicam-driver
From Source
This rc_genicam_driver depends on
The dependencies can also be installed via rosdep.
rosdep install --from-paths rc_genicam_driver --ignore-src rc_genicam_driver -r -y
Building and installing the package follows the typical ROS catkin workflow.
As an alternative, the cmake build-flow would be something like
mkdir build && cd build
cmake -DCATKIN_BUILD_BINARY_PACKAGE="1" -DCMAKE_INSTALL_PREFIX="/opt/ros/$ROS_DISTRO" -DCMAKE_PREFIX_PATH="/opt/ros/$ROS_DISTRO" -DCMAKE_BUILD_TYPE=Release ..
make
make install
Alternatively, instead of the final make install
, you can also use
make package
and sudo dpkg -i install ros-melodic-rc-genicam-driver_*.deb
.
GenICam GenTL Transport Layer
The rc_genicam_driver uses rc_genicam_api
for interfacing with the rc_visard or rc_cube via GenICam/GigE Vision and requires a
transport layer called a GenTL producer (shared library with the suffix .cti
).
For convenience rc_genicam_api comes with producers from Baumer for common
architectures.
The path to the producer can be set with the GENICAM_GENTL64_PATH
environment variable (or GENICAM_GENTL32_PATH
for 32 bit systems).
If not set, rc_genicam_driver will fall back to searching for the Baumer
producer where rc_genicam_api is installed.
If the producer .cti can’t be found and you will get an error message like
[ERROR] [1512568083.512790905]: No transport layers found in path /opt/ros/melodic/lib/rc_genicam_api
In this case you need either need to actually install rc_genicam_api properly or set the environment variable when running it. E.g. export:
GENICAM_GENTL64_PATH=/path/to/rc_genicam_api/baumer/Ubuntu-14.04/x86_64
Configuration
Parameters
Parameters to be set to the ROS param server before run-time.
-
device
: The ID of the device, e.g. Roboception rc_visard sensor or rc_cube. This can be either the-
serial number, e.g.
02912345
IMPORTANT: preceed with a colon (
:02912345
) when passing this on the commandline, setting it via rosparam or in the launch file (see https://github.com/ros/ros_comm/issues/1339). -
user defined name (factory default is the name of the rc_visard’s model), must be unique among all reachable sensors
-
internal ID, which is generated by the used GenTL producer. Often, this ID contains the MAC address in some way. This ID can change with the implementation of the transport layer.
See https://github.com/roboception/rc_genicam_api#device-id for more details. By default this parameter is set to
*
, which works with if only one compatible device can be found on the network. -
-
gev_access
: The gev_access mode, i.e.:
File truncated at 100 lines see the full file
Changelog for package rc_genicam_driver
0.7.0 (2023-03-09)
- Increased max limits of some parameters so that it works for rc_viscore as well as rc_visard
- Replaced parameter camera_exp_auto by camera_exp_control and added camera_gamma
- check device version before ready
0.6.3 (2021-11-15)
- Add exposure_adapt_timeout parameter
- update parameter description with enum values in square brackets
- fix line_source and add more extra_data to CameraParam
0.6.2 (2021-10-21)
- Controlling PtpEnable as optional so that this driver also works for rc_cube
0.6.1 (2021-08-02)
- Using parameter PtpEnable instead of deprecated parameter GevIEEE1588
0.6.0 (2021-08-02)
For supporting the rc_sgm_producer:
- Adding support for RGB color format
Other fixes:
- Fixed rounding when converting color to monochrome
- Increased tolerance for alternate exposure mode to 1 second
- Fixed warnings during compilation
0.5.2 (2021-05-26)
- Relaxed some non-critical parameters to be optional
0.5.1 (2021-02-11)
- Accept devices of vendor Roboception or if model name that starts with rc_visard or rc_cube
0.5.0 (2020-11-20)
- Publish images without filtering on image_rect(_color) topics
0.4.0 (2020-11-20)
- Added new parameter depth_double_shot
0.3.0 (2020-11-13)
- Renaming of adaptive_out1_reduction to out1_reduction
- Added new auto exposure mode Out1High
- Added reporting test flag, out1 reduction and brightness in camera parameter messages
- Update README
0.2.0 (2020-09-23)
- Removed parameter disprange and controlling disparity range via mindepth and maxdepth
- Changed log output from [ROS_]{.title-ref} to [NODELET_]{.title-ref}
0.1.0 (2020-07-31)
- Initial stable release, based on rc_visard_driver
Package Dependencies
Deps | Name |
---|---|
message_generation | |
catkin | |
message_runtime | |
rc_genicam_api | |
rc_common_msgs | |
nodelet | |
roscpp | |
sensor_msgs | |
stereo_msgs | |
image_transport | |
dynamic_reconfigure | |
geometry_msgs | |
tf | |
diagnostic_updater |
System Dependencies
Name |
---|
protobuf-dev |
protobuf |
doxygen |
curl |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged rc_genicam_driver at Robotics Stack Exchange
![]() |
rc_genicam_driver package from rc_genicam_driver reporc_genicam_driver |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.7.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/roboception/rc_genicam_driver_ros.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2024-10-24 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Felix Ruess
Authors
- Heiko Hirschmueller
- Felix Ruess
rc_genicam_driver
Nodelet/node providing a ROS interface to configure a Roboception rc_visard or rc_cube and receive images.
Please also consult the manuals for more details:
- https://doc.rc-visard.com
- https://doc.rc-cube.com
Installation
On Debian/Ubuntu add the ROS sources and
sudo apt-get install ros-${ROS_DISTRO}-rc-genicam-driver
From Source
This rc_genicam_driver depends on
The dependencies can also be installed via rosdep.
rosdep install --from-paths rc_genicam_driver --ignore-src rc_genicam_driver -r -y
Building and installing the package follows the typical ROS catkin workflow.
As an alternative, the cmake build-flow would be something like
mkdir build && cd build
cmake -DCATKIN_BUILD_BINARY_PACKAGE="1" -DCMAKE_INSTALL_PREFIX="/opt/ros/$ROS_DISTRO" -DCMAKE_PREFIX_PATH="/opt/ros/$ROS_DISTRO" -DCMAKE_BUILD_TYPE=Release ..
make
make install
Alternatively, instead of the final make install
, you can also use
make package
and sudo dpkg -i install ros-melodic-rc-genicam-driver_*.deb
.
GenICam GenTL Transport Layer
The rc_genicam_driver uses rc_genicam_api
for interfacing with the rc_visard or rc_cube via GenICam/GigE Vision and requires a
transport layer called a GenTL producer (shared library with the suffix .cti
).
For convenience rc_genicam_api comes with producers from Baumer for common
architectures.
The path to the producer can be set with the GENICAM_GENTL64_PATH
environment variable (or GENICAM_GENTL32_PATH
for 32 bit systems).
If not set, rc_genicam_driver will fall back to searching for the Baumer
producer where rc_genicam_api is installed.
If the producer .cti can’t be found and you will get an error message like
[ERROR] [1512568083.512790905]: No transport layers found in path /opt/ros/melodic/lib/rc_genicam_api
In this case you need either need to actually install rc_genicam_api properly or set the environment variable when running it. E.g. export:
GENICAM_GENTL64_PATH=/path/to/rc_genicam_api/baumer/Ubuntu-14.04/x86_64
Configuration
Parameters
Parameters to be set to the ROS param server before run-time.
-
device
: The ID of the device, e.g. Roboception rc_visard sensor or rc_cube. This can be either the-
serial number, e.g.
02912345
IMPORTANT: preceed with a colon (
:02912345
) when passing this on the commandline, setting it via rosparam or in the launch file (see https://github.com/ros/ros_comm/issues/1339). -
user defined name (factory default is the name of the rc_visard’s model), must be unique among all reachable sensors
-
internal ID, which is generated by the used GenTL producer. Often, this ID contains the MAC address in some way. This ID can change with the implementation of the transport layer.
See https://github.com/roboception/rc_genicam_api#device-id for more details. By default this parameter is set to
*
, which works with if only one compatible device can be found on the network. -
-
gev_access
: The gev_access mode, i.e.:
File truncated at 100 lines see the full file
Changelog for package rc_genicam_driver
0.7.0 (2023-03-09)
- Increased max limits of some parameters so that it works for rc_viscore as well as rc_visard
- Replaced parameter camera_exp_auto by camera_exp_control and added camera_gamma
- check device version before ready
0.6.3 (2021-11-15)
- Add exposure_adapt_timeout parameter
- update parameter description with enum values in square brackets
- fix line_source and add more extra_data to CameraParam
0.6.2 (2021-10-21)
- Controlling PtpEnable as optional so that this driver also works for rc_cube
0.6.1 (2021-08-02)
- Using parameter PtpEnable instead of deprecated parameter GevIEEE1588
0.6.0 (2021-08-02)
For supporting the rc_sgm_producer:
- Adding support for RGB color format
Other fixes:
- Fixed rounding when converting color to monochrome
- Increased tolerance for alternate exposure mode to 1 second
- Fixed warnings during compilation
0.5.2 (2021-05-26)
- Relaxed some non-critical parameters to be optional
0.5.1 (2021-02-11)
- Accept devices of vendor Roboception or if model name that starts with rc_visard or rc_cube
0.5.0 (2020-11-20)
- Publish images without filtering on image_rect(_color) topics
0.4.0 (2020-11-20)
- Added new parameter depth_double_shot
0.3.0 (2020-11-13)
- Renaming of adaptive_out1_reduction to out1_reduction
- Added new auto exposure mode Out1High
- Added reporting test flag, out1 reduction and brightness in camera parameter messages
- Update README
0.2.0 (2020-09-23)
- Removed parameter disprange and controlling disparity range via mindepth and maxdepth
- Changed log output from [ROS_]{.title-ref} to [NODELET_]{.title-ref}
0.1.0 (2020-07-31)
- Initial stable release, based on rc_visard_driver
Package Dependencies
Deps | Name |
---|---|
message_generation | |
catkin | |
message_runtime | |
rc_genicam_api | |
rc_common_msgs | |
nodelet | |
roscpp | |
sensor_msgs | |
stereo_msgs | |
image_transport | |
dynamic_reconfigure | |
geometry_msgs | |
tf | |
diagnostic_updater |
System Dependencies
Name |
---|
protobuf-dev |
protobuf |
doxygen |
curl |