rc_visard_driver

Nodelet/node providing a ROS interface to configure a Roboception rc_visard and receive images/poses.

Please also consult the manual for more details: https://doc.rc-visard.com

Installation

On Debian/Ubuntu add the ROS sources and

sudo apt-get install ros-${ROS_DISTRO}-rc-visard-driver

From Source

This rc_visard_driver depends on

• rc_genicam_api
• rc_dynamics_api

The dependencies can also be installed via rosdep.

rosdep install --from-paths rc_visard_driver --ignore-src rc_visard_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 ../rc_visard_driver
make
make install

Alternatively, instead of the final make install, you can also use make package and sudo dpkg -i install ros-melodic-rc-visard-driver_*.deb.

GenICam GenTL Transport Layer

The rc_visard_driver uses rc_genicam_api for interfacing with the rc_visard sensor 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_visard_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]: rc_visard_driver: 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, i.e. Roboception rc_visard sensor. 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 rc_visard, which works with one rc_visard with factory settings connected.

• gev_access: The gev_access mode, i.e.:

  • ‘control’ Configuration and streaming with the possibility of other clients to read GenICam parameters. This is the default.

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Changelog for package rc_visard_driver

3.3.3 (2022-03-03)

• rc_visard_driver: warn if images can't be published fast enough

3.3.2 (2022-02-18)

• require at least rc_visard firmware version 22.04

3.3.1 (2022-02-18)

• Protected translation from GenICam to CamParam message with mutex to avoid race condition when changing out1_mode

3.3.0 (2022-02-08)

3.2.4 (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

3.2.3 (2021-08-03)

• Fixed building on internal gitlab CI

3.2.2 (2021-08-02)

Changes supporting rc_sgm_producer:

• Extend color format to RGB8
• Using parameter PtpEnable instead of deprecated parameter GevIEEE1588 for controlling PTP

3.2.1 (2021-02-11)

• Only checking for rc_visard as model and not for vendor when detecting devices

3.2.0 (2021-01-28)

• update cmake files for better version handling
• set out1_mode immediately in reconfigure callback to avoid race condition
• default out1_mode is Low

3.1.0 (2020-11-17)

• Change: publish all images on */image_rect topics, meaning don't filter out1 low in alternate mode
• Change: always publish _out1_low and_out1_high topics even if no iocontrol license is available
• debug messages when GenICam params are changed
• rename adaptive_out1_reduction to out1_reduction
• add Out1High camera_exp_auto_mode (requires rc_visard firmware >= 20.11.0)
• add depth_double_shot parameter (requires rc_visard firmware >= 20.11.0)

3.0.5 (2020-10-20)

• add noise, test, adaptive_out1_reduction and brightness to CameraParam extra_data if available

3.0.4 (2020-09-23)

• Removed forgotten debug log output

3.0.3 (2020-09-22)

• Removed parameter disparity range as it will be removed on rc_visard >= 20.10.0 (Use dynamic parameters depth_mindepth and depth_maxdepth for controlling the depth range and coloring of disparity_color images.)

3.0.2 (2020-07-28)

• Fixed filtering out images with projection if stereo matching is used single shot and controls a random dot projector
• Removed parameter depth_median as it will be removed on rc_visard >= 20.10.0
• rc_pick_client: fix grasp markers
• Fixed dockerfiles
• Update readme

3.0.1 (2020-05-14)

3.0.0 (2020-05-13)

• rc_visard_driver depends on rc_common_msgs >= 0.5

• Added estimated noise level of image as extra_data in CameraParam message

• Added dynamic parameter camera_exp_auto_mode with backward compatibility to old rc_visards

• Only update dynamic out1_mode parameter from buffers with intensity images or by polling global nodemap

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