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Package Summary

Tags No category tags.
Version 2.5.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/roboception/rc_visard_ros.git
VCS Type git
VCS Version master
Last Updated 2019-02-06
Dev Status DEVELOPED
Released RELEASED

Package Description

The rc_visard_driver provides data from a Roboception rc_visard 3D sensor on several ROS topics.

Additional Links

Maintainers

  • Felix Ruess

Authors

  • Heiko Hirschmueller
  • Christian Emmerich
  • Felix Ruess

rc_visard_driver

This nodelet provides data from a Roboception rc_visard sensor on several ROS topics.

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

Build/Installation

See the main README

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: rc_visard), 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.
    • 'exclusive' Exclusive access to the sensor. This prevents other clients to read GenICam parameters.
    • 'off' Switches gev access completely off. The node only streams pose information if switched on.
  • max_reconnects: Maximum number of consecutive recovery trials in case the driver lost connection to the device or another error happened, e.g. during streaming data. If 0, no recovery is tried at all. If negative, the driver keeps trying to re-connect forever until a connection is re-established. Default: 5.

  • enable_tf: If true then the node subscribes to the rc_visard's dynamics-pose stream and publishes them on tf. Default: false

  • enable_visualization_markers: If true, additional visualization markers are published that visualize the rc_visard's dynamics state (velocities and accelerations), see /dynamics_visualization_markers topic. Default: false

  • autostart_dynamics: If true, the rc_visard's dynamics module is turned on with this ROS node's start up. Default: false

  • autostart_dynamics_with_slam: If true, the rc_visard's dynamics module tries to turn on SLAM with this ROS node's start up. If SLAM is not available (no license) only a warning is printed. Default: false

  • autostop_dynamics: If true, the rc_visard's dynamics module is turned off when this ROS node shuts down. Default: false

  • autopublish_trajectory: If true, results of the get_trajectory service calls are automatically published to /trajectory topic. Default: false

Dynamic-reconfigure Parameters

These parameters can be changed during runtime via dynamic reconfigure:

  • ptp_enabled: Enable PTP slave (PrecisionTimeProtocol, IEEE1588)

  • camera_fps: Frames per second that are published by this nodelet. 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: If true, then the exposure time is chosen automatically, up to exp_max as maximum. If false, then exp_value is used as exposure time in seconds.

  • camera_exp_max: Maximum exposure time in seconds if exp_auto is true.

  • camera_exp_value: Exposure time in seconds if exp_auto is false.

  • camera_gain_value: Gain factor in decibel if exp_auto is false.

  • depth_acquisition_mode: Can be either SingleFrame or Continuous. Only the first letter will be checked, thus giving S or C is sufficient.

  • depth_quality: Quality can be "Low", "Medium", "High" and "Full". Only the first letter will be checked, thus specification of "L", "M", "H" or "F" is sufficient. The quality setting effectively downscales the image after the downscale factor as given above:

    • Full does not downscale the image, i.e. factor is 1 (e.g. 1280x960). NOTE: This mode requires the 'stereo_plus' license on the rc_visard.
    • High downscales by factor 2 (e.g. 640x480).
    • Medium downscales by factor 4 (e.g. 320x240).
    • Low downscales by factor 6 (e.g. 214x160).
  • depth_static_scene: This parameter can be set to true if the scene and camera is static. It only has an effect if quality is either High or Full. If active, input images are accumulated and averaged for 300 ms to reduce noise. This limits the frame rate to a maximum of 3 Hz. The timestamp of the disparity image is taken from the first image that was used for accumulation.

  • depth_disprange: Disparity range in pixel, related to the downscaled image at quality=H. The range is adapted to the quality.

  • depth_fill: Higher numbers fill gaps with measurments with potentielly higher errors.

  • depth_seg: Maximum size of isolated disparity regions that will be invalidated, related to full resolution.

  • depth_smooth: Switching smoothing of disparities on or off. NOTE: Smoothing requires the 'stereo_plus' license on the rc_visard.

  • depth_median: Performs median filtering with the given window size.

  • depth_minconf: Minimal confidence. All disparities with lower confidence will be set to invalid.

  • depth_mindepth: Minimum depth in meter. All disparities with lower depth will be set to invalid.

  • depth_maxdepth: Maximum depth in meter. All disparities with higher depth will be set to invalid.

  • depth_maxdeptherr: Maximum depth error in meter. All disparities with a higher depth error will be set to invalid.

  • out1_mode: Mode for the digital GPIO out1. Possible values are:

    • Low for switching out1 permanently off.
    • High for switching out1 permanently on.
    • ExposureActive for switching out1 on for the exposure time of every image.
    • ExposureAlternateActive for switching out1 on for the exposure time of every second image.

The value can only be changed if the rc_visard has an IO Control license. The default is ExposureActive.

  • out2_mode: Mode for the digital GPIO out2. The functionality is the same as for out1_mode. The default is Low.

For color sensors, the following dynamic-reconfigure parameters are additionally available:

  • camera_wb_auto: If true, then white balancing is done automatically. If false, then the red and blue to green ratios can be chosen manually.

  • camera_wb_ratio_red: Red to green ratio for color balancing if camera_wb_auto is false.

  • camera_wb_ratio_blue: Blue to green ratio for color balancing if camera_wb_auto is false.

Provided Topics

The following topics are provided. The nodelet tries to request only data (e.g., images, poses) from the sensor if there is subscriber to the corresponding topic.

Images, Stereo Data, Point Clouds

  • /stereo/left/camera_info (sensor_msgs::CameraInfo)
  • /stereo/right/camera_info (sensor_msgs::CameraInfo)
  • /stereo/left/image_rect (sensor_msgs::Image, MONO8)
  • /stereo/right/image_rect (sensor_msgs::Image, MONO8)
  • /stereo/disparity (stereo_msgs::DisparityImage)
  • /stereo/disparity_color (sensor_msgs::Image, RGB8, visually pleasing)
  • /stereo/depth (sensor_msgs::Image, TYPE_32FC1)
  • /stereo/confidence (sensor_msgs::Image, TYPE_32FC1, values between 0 and 1)
  • /stereo/error_disparity (sensor_msgs::Image, TYPE_32FC1)
  • /stereo/error_depth (sensor_msgs::Image, TYPE_32FC1)
  • /stereo/points2 (sensor_msgs::PointCloud2)

For color sensors, the following topics are additionally available:

  • /stereo/left/image_rect_color (sensor_msgs::Image, format: RGB8)
  • /stereo/right/image_rect_color (sensor_msgs::Image, format: RGB8)

If the connected rc_visard has an IO Control license, then the following topics are additionally provided for images where the GPIO out1 is either low or high. These topics only useful if out1_mode is set to the special mode ExposureAlternateActive.

  • /stereo/left/image_rect_out1_low (sensor_msgs::Image, MONO8)
  • /stereo/left/image_rect_out1_high (sensor_msgs::Image, MONO8)
  • /stereo/right/image_rect_out1_low (sensor_msgs::Image, MONO8)
  • /stereo/right/image_rect_out1_high (sensor_msgs::Image, MONO8)

For color sensors with an IO Control license, the following topics are additionally available:

  • /stereo/left/image_rect_color_out1_low (sensor_msgs::Image, format: RGB8)
  • /stereo/left/image_rect_color_out1_high (sensor_msgs::Image, format: RGB8)
  • /stereo/right/image_rect_color_out1_low (sensor_msgs::Image, format: RGB8)
  • /stereo/right/image_rect_color_out1_high (sensor_msgs::Image, format: RGB8)

Dynamic State (i.e. poses, IMU data, etc.)

These topics deliver the rc_visard's estimated dynamic state such as its position, orientation, and velocity. For these topics to work properly, the rc_visard's dynamics module must be turned on (see respective service calls or startup-parameters).

  • /pose (geometry_msgs/PoseStamped; same data as provided via tf if enable_tf is set to true)
  • /pose_ins (geometry_msgs/PoseStamped)
  • /pose_rt (geometry_msgs/PoseStamped)
  • /pose_rt_ins (geometry_msgs/PoseStamped)
  • /dynamics (nav_msgs/Odometry)
  • /dynamics_ins (nav_msgs/Odometry)

This topic delivers raw measurements from the on-board IMU sensor: * /imu (sensor_msgs/Imu)

TF

If the parameter enable_tf is set to true, the node subscribes to the rc_visard's pose stream (same data published on /pose topic) and publishes them on tf.

Relevant Coordinate Frames

The following coordinate frames are relevant for interpreting the data provided by the rc_visard:

  • camera: The pupil's center of the rc_visard's left camera. All stereo-camera data such as images and point clouds are given in this frame.
  • world: Relevant for navigation applications. The world frame’s origin is located at the origin of the rc_visard’s IMU coordinate frame at the instant when state estimation is switched on. Estimated poses of the rc_visard are given in this frame, i.e. as the rc_visard moves in the world and state estimation is running, the camera frame will change w.r.t. this frame.
  • imu: The IMU coordinate frame is inside the rc_visard’s housing. The raw IMU measurements are given in this frame.

Running multiple rc_visard's in one ros environment

For operating multiple rc_visard's in one ros environment, each ros node must be started in separate namespaces, e.g., my_visard. As a result, all frame_ids in all ros messages will be prefixed, e.g., to my_visard_world or my_visard_camera.

Services

The following service is offered to trigger stereo matching in SingleFrame mode. It returns an error if the depth_acquisition_mode is Continuous.

  • depth_acquisition_trigger

The following services are offered to start, stop, and restart the rc_visard's dynamic module (which needs to be started for working dynamic-state estimates).

  • dynamics_start
  • dynamics_restart
  • dynamics_stop
  • dynamics_start_slam
  • dynamics_restart_slam
  • dynamics_stop_slam

The trajectory constructed and stored by the rc_slam node can be retrieved by

  • slam_get_trajectory

The onboard map of the rc_slam node can be saved on the rc_visard for loading it after a SLAM restart or power cycle:

  • slam_save_map
  • slam_load_map
  • slam_remove_map

The onboard rc_slam node can be "reset" (clears the internal state of the SLAM component, including the trajectory) to free the memory with

  • slam_reset

Diagnostics

The rc_visard_driver uses the diagnostics_updater class from the ROS diagnostics stack to regularly publish a DiagnosticStatus Message.

The regular publishing rate can be set via the ~diagnostic_period parameter and defaults to 1 second.

Currently two status are published:

  • Device: Information about the device that the driver is connected to. It covers the rc_visard's serial number, mac address, user-defined GeV ID, and the firmware image version.

  • Connection: Status of the current connection between rc_visard_driver and rc_visard. It publishes 4 different messages:

    • Disconnected (Error): The driver is currently not (yet) connected to the sensor and might try to reconnect several times according to the max_reconnects parameter.
    • Idle (Ok): The driver is connected but not publishing any data because no one is subscribed to any.
    • No data (Warning): The driver is connected and required to publish data but itself does not receive any data from the sensor.
    • Streaming (Ok): The driver is connected and properly streaming data.

The published status values are connection_loss_total, incomplete_buffers_total, image_receive_timeouts_total, and current_reconnect_trial. If not Disconnected, additionally the current ip_address and gev_packet_size are published.

Launching

  • Using command line parameters:

    rosrun rc_visard_driver rc_visard_driver _device:=:02912345 _enable_tf:=True _autostart_dynamics:=True _autostop_dynamics:=True

  • As a nodelet, and in a separate namespace:

    ROS_NAMESPACE=my_visard rosrun nodelet nodelet standalone rc_visard_driver _device:=:02912345

Note that in this setup all frame_ids in all ros messages (including tf-messages) will be prefixed with my_visard, e.g., the frame_id of the published camera images will be my_visard_camera, the frame_id of the poses will be my_visard_world, and the frame_id of the Imu messages will be my_visard_imu.

CHANGELOG

Changelog for package rc_visard_driver

2.5.0 (2019-02-05)

  • add parameter for max number of reconnections
  • fix: enable driver to try to recover even if the very first time no connection worked out
  • add diagnostics
  • fix reporting of package size
  • Fixed hanging image streams after restart of sensor
  • Support for rc_visard firmware v1.5.0 additions (require StereoPlus license)
    • quality full
    • advanced smoothing
  • improved driver\'s auto-connect behavior
  • also reapply dynamic_reconfigure params after recovery
  • fix projection matrix in published right CameraInfo

2.4.2 (2018-10-29)

2.4.1 (2018-10-29)

  • Fixed link error if rc_genicam_api is not installed in a standard directory
  • docker images: upgrade packages first

2.4.0 (2018-10-16)

  • added depth_acquisition_mode parameter
  • added depth_acquisition_trigger service call
  • Reduced latency for passing changes of dynamic parameters and topic discriptions to GenICam
  • Fixed using wrong disparity range in disparity color publisher
  • now depends on rc_genicam_api >= 2.0.0

2.3.0 (2018-08-21)

  • read params from parameter server before falling back to current device params
  • New image topics ...out1_low and ...out1_high are offered if iocontrol module is available

2.2.1 (2018-07-05)

  • Changed to component intensity before changing pixel format for supporting color rc_visards with version >= 1.3.0

2.2.0 (2018-07-03)

  • fix out1_mode/out2_mode description and default
  • change/add service calls for onboard SLAM module:
    • rename dynamics_reset_slam to slam_reset
    • rename get_trajectory to slam_get_trajectory
    • add slam_save_map, slam_load_map and slam_remove_map
  • install Rviz example config file

2.1.1 (2018-06-15)

  • Adjusting disparity range to content of disparity image for colored disparity visualization
  • Added debug message if left and disparity images cannot be synchronized for creating point clouds
  • Implemented parameters for IO control and relaxed time synchronization in case of exposure alternate mode

2.1.0 (2018-04-23)

  • add ptp_enabled dynamic_reconfigure parameter (to enable PrecisionTimeProtocol Slave on rc_visard)
  • add reset service for SLAM
  • README updates
  • use \'rc_visard\' as default device name (works with one rc_visard with factory settings connected)

2.0.0 (2018-02-27)

  • rc_genicam_api and rc_dynamics_api as dependency instead of submodule
  • don\'t reset if datastreams time out
  • added get_trajectory service
  • Use new statemachine interface Return codes are now strings.
  • Add services start_slam, restart_slam and stop_slam
  • Publishing dynamics as odometry message
  • visualizing dynamics message - angular velocity, linear accelerarion published as marker for visualization

    • cam2imu-transform is published with re-created timestamp
  • Contributors: Christian Emmerich, Felix Endres, Felix Ruess, Heiko Hirschmueller

1.2.1 (2018-02-26)

  • use rc_genicam_api as dependency instead of including as submodule also remove launchfile, as the device is a required parameter anyway...
  • Contributors: Felix Ruess

1.2.0 (2018-02-11)

  • Setting default of median to 1 instead of 0, which also means off
  • install rc_visard_driver node in package lib dir, so start it with rosrun rc_visard_driver rc_visard_driver

1.1.3 (2017-04-13)

  • Added possibility to start as ROS node alternatively to nodelet
  • Printing shutdown information to stdout, since ROS log messages just before exit disappear

1.1.2 (2017-04-11)

  • The module reconnects to the GigE Vision server in case of errors
  • Added reporting enabled componets and missing images

1.1.0 (2017-04-10)

  • Implemented setting camera framerate via dynamic reconfigure
  • Implementation of dynamic reconfigure parameters for controlling the depth image

1.0.1 (2017-03-16)

  • Focal length of disparity image now relates to the size of the disparity image
  • Use color for point cloud if color images are available

1.0.0 (2017-03-05)

  • Initial release

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Plugins

Recent questions tagged rc_visard_driver at answers.ros.org

Package Summary

Tags No category tags.
Version 2.5.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/roboception/rc_visard_ros.git
VCS Type git
VCS Version master
Last Updated 2019-02-06
Dev Status DEVELOPED
Released RELEASED

Package Description

The rc_visard_driver provides data from a Roboception rc_visard 3D sensor on several ROS topics.

Additional Links

Maintainers

  • Felix Ruess

Authors

  • Heiko Hirschmueller
  • Christian Emmerich
  • Felix Ruess

rc_visard_driver

This nodelet provides data from a Roboception rc_visard sensor on several ROS topics.

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

Build/Installation

See the main README

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: rc_visard), 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.
    • 'exclusive' Exclusive access to the sensor. This prevents other clients to read GenICam parameters.
    • 'off' Switches gev access completely off. The node only streams pose information if switched on.
  • max_reconnects: Maximum number of consecutive recovery trials in case the driver lost connection to the device or another error happened, e.g. during streaming data. If 0, no recovery is tried at all. If negative, the driver keeps trying to re-connect forever until a connection is re-established. Default: 5.

  • enable_tf: If true then the node subscribes to the rc_visard's dynamics-pose stream and publishes them on tf. Default: false

  • enable_visualization_markers: If true, additional visualization markers are published that visualize the rc_visard's dynamics state (velocities and accelerations), see /dynamics_visualization_markers topic. Default: false

  • autostart_dynamics: If true, the rc_visard's dynamics module is turned on with this ROS node's start up. Default: false

  • autostart_dynamics_with_slam: If true, the rc_visard's dynamics module tries to turn on SLAM with this ROS node's start up. If SLAM is not available (no license) only a warning is printed. Default: false

  • autostop_dynamics: If true, the rc_visard's dynamics module is turned off when this ROS node shuts down. Default: false

  • autopublish_trajectory: If true, results of the get_trajectory service calls are automatically published to /trajectory topic. Default: false

Dynamic-reconfigure Parameters

These parameters can be changed during runtime via dynamic reconfigure:

  • ptp_enabled: Enable PTP slave (PrecisionTimeProtocol, IEEE1588)

  • camera_fps: Frames per second that are published by this nodelet. 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: If true, then the exposure time is chosen automatically, up to exp_max as maximum. If false, then exp_value is used as exposure time in seconds.

  • camera_exp_max: Maximum exposure time in seconds if exp_auto is true.

  • camera_exp_value: Exposure time in seconds if exp_auto is false.

  • camera_gain_value: Gain factor in decibel if exp_auto is false.

  • depth_acquisition_mode: Can be either SingleFrame or Continuous. Only the first letter will be checked, thus giving S or C is sufficient.

  • depth_quality: Quality can be "Low", "Medium", "High" and "Full". Only the first letter will be checked, thus specification of "L", "M", "H" or "F" is sufficient. The quality setting effectively downscales the image after the downscale factor as given above:

    • Full does not downscale the image, i.e. factor is 1 (e.g. 1280x960). NOTE: This mode requires the 'stereo_plus' license on the rc_visard.
    • High downscales by factor 2 (e.g. 640x480).
    • Medium downscales by factor 4 (e.g. 320x240).
    • Low downscales by factor 6 (e.g. 214x160).
  • depth_static_scene: This parameter can be set to true if the scene and camera is static. It only has an effect if quality is either High or Full. If active, input images are accumulated and averaged for 300 ms to reduce noise. This limits the frame rate to a maximum of 3 Hz. The timestamp of the disparity image is taken from the first image that was used for accumulation.

  • depth_disprange: Disparity range in pixel, related to the downscaled image at quality=H. The range is adapted to the quality.

  • depth_fill: Higher numbers fill gaps with measurments with potentielly higher errors.

  • depth_seg: Maximum size of isolated disparity regions that will be invalidated, related to full resolution.

  • depth_smooth: Switching smoothing of disparities on or off. NOTE: Smoothing requires the 'stereo_plus' license on the rc_visard.

  • depth_median: Performs median filtering with the given window size.

  • depth_minconf: Minimal confidence. All disparities with lower confidence will be set to invalid.

  • depth_mindepth: Minimum depth in meter. All disparities with lower depth will be set to invalid.

  • depth_maxdepth: Maximum depth in meter. All disparities with higher depth will be set to invalid.

  • depth_maxdeptherr: Maximum depth error in meter. All disparities with a higher depth error will be set to invalid.

  • out1_mode: Mode for the digital GPIO out1. Possible values are:

    • Low for switching out1 permanently off.
    • High for switching out1 permanently on.
    • ExposureActive for switching out1 on for the exposure time of every image.
    • ExposureAlternateActive for switching out1 on for the exposure time of every second image.

The value can only be changed if the rc_visard has an IO Control license. The default is ExposureActive.

  • out2_mode: Mode for the digital GPIO out2. The functionality is the same as for out1_mode. The default is Low.

For color sensors, the following dynamic-reconfigure parameters are additionally available:

  • camera_wb_auto: If true, then white balancing is done automatically. If false, then the red and blue to green ratios can be chosen manually.

  • camera_wb_ratio_red: Red to green ratio for color balancing if camera_wb_auto is false.

  • camera_wb_ratio_blue: Blue to green ratio for color balancing if camera_wb_auto is false.

Provided Topics

The following topics are provided. The nodelet tries to request only data (e.g., images, poses) from the sensor if there is subscriber to the corresponding topic.

Images, Stereo Data, Point Clouds

  • /stereo/left/camera_info (sensor_msgs::CameraInfo)
  • /stereo/right/camera_info (sensor_msgs::CameraInfo)
  • /stereo/left/image_rect (sensor_msgs::Image, MONO8)
  • /stereo/right/image_rect (sensor_msgs::Image, MONO8)
  • /stereo/disparity (stereo_msgs::DisparityImage)
  • /stereo/disparity_color (sensor_msgs::Image, RGB8, visually pleasing)
  • /stereo/depth (sensor_msgs::Image, TYPE_32FC1)
  • /stereo/confidence (sensor_msgs::Image, TYPE_32FC1, values between 0 and 1)
  • /stereo/error_disparity (sensor_msgs::Image, TYPE_32FC1)
  • /stereo/error_depth (sensor_msgs::Image, TYPE_32FC1)
  • /stereo/points2 (sensor_msgs::PointCloud2)

For color sensors, the following topics are additionally available:

  • /stereo/left/image_rect_color (sensor_msgs::Image, format: RGB8)
  • /stereo/right/image_rect_color (sensor_msgs::Image, format: RGB8)

If the connected rc_visard has an IO Control license, then the following topics are additionally provided for images where the GPIO out1 is either low or high. These topics only useful if out1_mode is set to the special mode ExposureAlternateActive.

  • /stereo/left/image_rect_out1_low (sensor_msgs::Image, MONO8)
  • /stereo/left/image_rect_out1_high (sensor_msgs::Image, MONO8)
  • /stereo/right/image_rect_out1_low (sensor_msgs::Image, MONO8)
  • /stereo/right/image_rect_out1_high (sensor_msgs::Image, MONO8)

For color sensors with an IO Control license, the following topics are additionally available:

  • /stereo/left/image_rect_color_out1_low (sensor_msgs::Image, format: RGB8)
  • /stereo/left/image_rect_color_out1_high (sensor_msgs::Image, format: RGB8)
  • /stereo/right/image_rect_color_out1_low (sensor_msgs::Image, format: RGB8)
  • /stereo/right/image_rect_color_out1_high (sensor_msgs::Image, format: RGB8)

Dynamic State (i.e. poses, IMU data, etc.)

These topics deliver the rc_visard's estimated dynamic state such as its position, orientation, and velocity. For these topics to work properly, the rc_visard's dynamics module must be turned on (see respective service calls or startup-parameters).

  • /pose (geometry_msgs/PoseStamped; same data as provided via tf if enable_tf is set to true)
  • /pose_ins (geometry_msgs/PoseStamped)
  • /pose_rt (geometry_msgs/PoseStamped)
  • /pose_rt_ins (geometry_msgs/PoseStamped)
  • /dynamics (nav_msgs/Odometry)
  • /dynamics_ins (nav_msgs/Odometry)

This topic delivers raw measurements from the on-board IMU sensor: * /imu (sensor_msgs/Imu)

TF

If the parameter enable_tf is set to true, the node subscribes to the rc_visard's pose stream (same data published on /pose topic) and publishes them on tf.

Relevant Coordinate Frames

The following coordinate frames are relevant for interpreting the data provided by the rc_visard:

  • camera: The pupil's center of the rc_visard's left camera. All stereo-camera data such as images and point clouds are given in this frame.
  • world: Relevant for navigation applications. The world frame’s origin is located at the origin of the rc_visard’s IMU coordinate frame at the instant when state estimation is switched on. Estimated poses of the rc_visard are given in this frame, i.e. as the rc_visard moves in the world and state estimation is running, the camera frame will change w.r.t. this frame.
  • imu: The IMU coordinate frame is inside the rc_visard’s housing. The raw IMU measurements are given in this frame.

Running multiple rc_visard's in one ros environment

For operating multiple rc_visard's in one ros environment, each ros node must be started in separate namespaces, e.g., my_visard. As a result, all frame_ids in all ros messages will be prefixed, e.g., to my_visard_world or my_visard_camera.

Services

The following service is offered to trigger stereo matching in SingleFrame mode. It returns an error if the depth_acquisition_mode is Continuous.

  • depth_acquisition_trigger

The following services are offered to start, stop, and restart the rc_visard's dynamic module (which needs to be started for working dynamic-state estimates).

  • dynamics_start
  • dynamics_restart
  • dynamics_stop
  • dynamics_start_slam
  • dynamics_restart_slam
  • dynamics_stop_slam

The trajectory constructed and stored by the rc_slam node can be retrieved by

  • slam_get_trajectory

The onboard map of the rc_slam node can be saved on the rc_visard for loading it after a SLAM restart or power cycle:

  • slam_save_map
  • slam_load_map
  • slam_remove_map

The onboard rc_slam node can be "reset" (clears the internal state of the SLAM component, including the trajectory) to free the memory with

  • slam_reset

Diagnostics

The rc_visard_driver uses the diagnostics_updater class from the ROS diagnostics stack to regularly publish a DiagnosticStatus Message.

The regular publishing rate can be set via the ~diagnostic_period parameter and defaults to 1 second.

Currently two status are published:

  • Device: Information about the device that the driver is connected to. It covers the rc_visard's serial number, mac address, user-defined GeV ID, and the firmware image version.

  • Connection: Status of the current connection between rc_visard_driver and rc_visard. It publishes 4 different messages:

    • Disconnected (Error): The driver is currently not (yet) connected to the sensor and might try to reconnect several times according to the max_reconnects parameter.
    • Idle (Ok): The driver is connected but not publishing any data because no one is subscribed to any.
    • No data (Warning): The driver is connected and required to publish data but itself does not receive any data from the sensor.
    • Streaming (Ok): The driver is connected and properly streaming data.

The published status values are connection_loss_total, incomplete_buffers_total, image_receive_timeouts_total, and current_reconnect_trial. If not Disconnected, additionally the current ip_address and gev_packet_size are published.

Launching

  • Using command line parameters:

    rosrun rc_visard_driver rc_visard_driver _device:=:02912345 _enable_tf:=True _autostart_dynamics:=True _autostop_dynamics:=True

  • As a nodelet, and in a separate namespace:

    ROS_NAMESPACE=my_visard rosrun nodelet nodelet standalone rc_visard_driver _device:=:02912345

Note that in this setup all frame_ids in all ros messages (including tf-messages) will be prefixed with my_visard, e.g., the frame_id of the published camera images will be my_visard_camera, the frame_id of the poses will be my_visard_world, and the frame_id of the Imu messages will be my_visard_imu.

CHANGELOG

Changelog for package rc_visard_driver

2.5.0 (2019-02-05)

  • add parameter for max number of reconnections
  • fix: enable driver to try to recover even if the very first time no connection worked out
  • add diagnostics
  • fix reporting of package size
  • Fixed hanging image streams after restart of sensor
  • Support for rc_visard firmware v1.5.0 additions (require StereoPlus license)
    • quality full
    • advanced smoothing
  • improved driver\'s auto-connect behavior
  • also reapply dynamic_reconfigure params after recovery
  • fix projection matrix in published right CameraInfo

2.4.2 (2018-10-29)

2.4.1 (2018-10-29)

  • Fixed link error if rc_genicam_api is not installed in a standard directory
  • docker images: upgrade packages first

2.4.0 (2018-10-16)

  • added depth_acquisition_mode parameter
  • added depth_acquisition_trigger service call
  • Reduced latency for passing changes of dynamic parameters and topic discriptions to GenICam
  • Fixed using wrong disparity range in disparity color publisher
  • now depends on rc_genicam_api >= 2.0.0

2.3.0 (2018-08-21)

  • read params from parameter server before falling back to current device params
  • New image topics ...out1_low and ...out1_high are offered if iocontrol module is available

2.2.1 (2018-07-05)

  • Changed to component intensity before changing pixel format for supporting color rc_visards with version >= 1.3.0

2.2.0 (2018-07-03)

  • fix out1_mode/out2_mode description and default
  • change/add service calls for onboard SLAM module:
    • rename dynamics_reset_slam to slam_reset
    • rename get_trajectory to slam_get_trajectory
    • add slam_save_map, slam_load_map and slam_remove_map
  • install Rviz example config file

2.1.1 (2018-06-15)

  • Adjusting disparity range to content of disparity image for colored disparity visualization
  • Added debug message if left and disparity images cannot be synchronized for creating point clouds
  • Implemented parameters for IO control and relaxed time synchronization in case of exposure alternate mode

2.1.0 (2018-04-23)

  • add ptp_enabled dynamic_reconfigure parameter (to enable PrecisionTimeProtocol Slave on rc_visard)
  • add reset service for SLAM
  • README updates
  • use \'rc_visard\' as default device name (works with one rc_visard with factory settings connected)

2.0.0 (2018-02-27)

  • rc_genicam_api and rc_dynamics_api as dependency instead of submodule
  • don\'t reset if datastreams time out
  • added get_trajectory service
  • Use new statemachine interface Return codes are now strings.
  • Add services start_slam, restart_slam and stop_slam
  • Publishing dynamics as odometry message
  • visualizing dynamics message - angular velocity, linear accelerarion published as marker for visualization

    • cam2imu-transform is published with re-created timestamp
  • Contributors: Christian Emmerich, Felix Endres, Felix Ruess, Heiko Hirschmueller

1.2.1 (2018-02-26)

  • use rc_genicam_api as dependency instead of including as submodule also remove launchfile, as the device is a required parameter anyway...
  • Contributors: Felix Ruess

1.2.0 (2018-02-11)

  • Setting default of median to 1 instead of 0, which also means off
  • install rc_visard_driver node in package lib dir, so start it with rosrun rc_visard_driver rc_visard_driver

1.1.3 (2017-04-13)

  • Added possibility to start as ROS node alternatively to nodelet
  • Printing shutdown information to stdout, since ROS log messages just before exit disappear

1.1.2 (2017-04-11)

  • The module reconnects to the GigE Vision server in case of errors
  • Added reporting enabled componets and missing images

1.1.0 (2017-04-10)

  • Implemented setting camera framerate via dynamic reconfigure
  • Implementation of dynamic reconfigure parameters for controlling the depth image

1.0.1 (2017-03-16)

  • Focal length of disparity image now relates to the size of the disparity image
  • Use color for point cloud if color images are available

1.0.0 (2017-03-05)

  • Initial release

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Plugins

Recent questions tagged rc_visard_driver at answers.ros.org

Package Summary

Tags No category tags.
Version 2.5.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/roboception/rc_visard_ros.git
VCS Type git
VCS Version master
Last Updated 2019-02-06
Dev Status DEVELOPED
Released RELEASED

Package Description

The rc_visard_driver provides data from a Roboception rc_visard 3D sensor on several ROS topics.

Additional Links

Maintainers

  • Felix Ruess

Authors

  • Heiko Hirschmueller
  • Christian Emmerich
  • Felix Ruess

rc_visard_driver

This nodelet provides data from a Roboception rc_visard sensor on several ROS topics.

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

Build/Installation

See the main README

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: rc_visard), 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.
    • 'exclusive' Exclusive access to the sensor. This prevents other clients to read GenICam parameters.
    • 'off' Switches gev access completely off. The node only streams pose information if switched on.
  • max_reconnects: Maximum number of consecutive recovery trials in case the driver lost connection to the device or another error happened, e.g. during streaming data. If 0, no recovery is tried at all. If negative, the driver keeps trying to re-connect forever until a connection is re-established. Default: 5.

  • enable_tf: If true then the node subscribes to the rc_visard's dynamics-pose stream and publishes them on tf. Default: false

  • enable_visualization_markers: If true, additional visualization markers are published that visualize the rc_visard's dynamics state (velocities and accelerations), see /dynamics_visualization_markers topic. Default: false

  • autostart_dynamics: If true, the rc_visard's dynamics module is turned on with this ROS node's start up. Default: false

  • autostart_dynamics_with_slam: If true, the rc_visard's dynamics module tries to turn on SLAM with this ROS node's start up. If SLAM is not available (no license) only a warning is printed. Default: false

  • autostop_dynamics: If true, the rc_visard's dynamics module is turned off when this ROS node shuts down. Default: false

  • autopublish_trajectory: If true, results of the get_trajectory service calls are automatically published to /trajectory topic. Default: false

Dynamic-reconfigure Parameters

These parameters can be changed during runtime via dynamic reconfigure:

  • ptp_enabled: Enable PTP slave (PrecisionTimeProtocol, IEEE1588)

  • camera_fps: Frames per second that are published by this nodelet. 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: If true, then the exposure time is chosen automatically, up to exp_max as maximum. If false, then exp_value is used as exposure time in seconds.

  • camera_exp_max: Maximum exposure time in seconds if exp_auto is true.

  • camera_exp_value: Exposure time in seconds if exp_auto is false.

  • camera_gain_value: Gain factor in decibel if exp_auto is false.

  • depth_acquisition_mode: Can be either SingleFrame or Continuous. Only the first letter will be checked, thus giving S or C is sufficient.

  • depth_quality: Quality can be "Low", "Medium", "High" and "Full". Only the first letter will be checked, thus specification of "L", "M", "H" or "F" is sufficient. The quality setting effectively downscales the image after the downscale factor as given above:

    • Full does not downscale the image, i.e. factor is 1 (e.g. 1280x960). NOTE: This mode requires the 'stereo_plus' license on the rc_visard.
    • High downscales by factor 2 (e.g. 640x480).
    • Medium downscales by factor 4 (e.g. 320x240).
    • Low downscales by factor 6 (e.g. 214x160).
  • depth_static_scene: This parameter can be set to true if the scene and camera is static. It only has an effect if quality is either High or Full. If active, input images are accumulated and averaged for 300 ms to reduce noise. This limits the frame rate to a maximum of 3 Hz. The timestamp of the disparity image is taken from the first image that was used for accumulation.

  • depth_disprange: Disparity range in pixel, related to the downscaled image at quality=H. The range is adapted to the quality.

  • depth_fill: Higher numbers fill gaps with measurments with potentielly higher errors.

  • depth_seg: Maximum size of isolated disparity regions that will be invalidated, related to full resolution.

  • depth_smooth: Switching smoothing of disparities on or off. NOTE: Smoothing requires the 'stereo_plus' license on the rc_visard.

  • depth_median: Performs median filtering with the given window size.

  • depth_minconf: Minimal confidence. All disparities with lower confidence will be set to invalid.

  • depth_mindepth: Minimum depth in meter. All disparities with lower depth will be set to invalid.

  • depth_maxdepth: Maximum depth in meter. All disparities with higher depth will be set to invalid.

  • depth_maxdeptherr: Maximum depth error in meter. All disparities with a higher depth error will be set to invalid.

  • out1_mode: Mode for the digital GPIO out1. Possible values are:

    • Low for switching out1 permanently off.
    • High for switching out1 permanently on.
    • ExposureActive for switching out1 on for the exposure time of every image.
    • ExposureAlternateActive for switching out1 on for the exposure time of every second image.

The value can only be changed if the rc_visard has an IO Control license. The default is ExposureActive.

  • out2_mode: Mode for the digital GPIO out2. The functionality is the same as for out1_mode. The default is Low.

For color sensors, the following dynamic-reconfigure parameters are additionally available:

  • camera_wb_auto: If true, then white balancing is done automatically. If false, then the red and blue to green ratios can be chosen manually.

  • camera_wb_ratio_red: Red to green ratio for color balancing if camera_wb_auto is false.

  • camera_wb_ratio_blue: Blue to green ratio for color balancing if camera_wb_auto is false.

Provided Topics

The following topics are provided. The nodelet tries to request only data (e.g., images, poses) from the sensor if there is subscriber to the corresponding topic.

Images, Stereo Data, Point Clouds

  • /stereo/left/camera_info (sensor_msgs::CameraInfo)
  • /stereo/right/camera_info (sensor_msgs::CameraInfo)
  • /stereo/left/image_rect (sensor_msgs::Image, MONO8)
  • /stereo/right/image_rect (sensor_msgs::Image, MONO8)
  • /stereo/disparity (stereo_msgs::DisparityImage)
  • /stereo/disparity_color (sensor_msgs::Image, RGB8, visually pleasing)
  • /stereo/depth (sensor_msgs::Image, TYPE_32FC1)
  • /stereo/confidence (sensor_msgs::Image, TYPE_32FC1, values between 0 and 1)
  • /stereo/error_disparity (sensor_msgs::Image, TYPE_32FC1)
  • /stereo/error_depth (sensor_msgs::Image, TYPE_32FC1)
  • /stereo/points2 (sensor_msgs::PointCloud2)

For color sensors, the following topics are additionally available:

  • /stereo/left/image_rect_color (sensor_msgs::Image, format: RGB8)
  • /stereo/right/image_rect_color (sensor_msgs::Image, format: RGB8)

If the connected rc_visard has an IO Control license, then the following topics are additionally provided for images where the GPIO out1 is either low or high. These topics only useful if out1_mode is set to the special mode ExposureAlternateActive.

  • /stereo/left/image_rect_out1_low (sensor_msgs::Image, MONO8)
  • /stereo/left/image_rect_out1_high (sensor_msgs::Image, MONO8)
  • /stereo/right/image_rect_out1_low (sensor_msgs::Image, MONO8)
  • /stereo/right/image_rect_out1_high (sensor_msgs::Image, MONO8)

For color sensors with an IO Control license, the following topics are additionally available:

  • /stereo/left/image_rect_color_out1_low (sensor_msgs::Image, format: RGB8)
  • /stereo/left/image_rect_color_out1_high (sensor_msgs::Image, format: RGB8)
  • /stereo/right/image_rect_color_out1_low (sensor_msgs::Image, format: RGB8)
  • /stereo/right/image_rect_color_out1_high (sensor_msgs::Image, format: RGB8)

Dynamic State (i.e. poses, IMU data, etc.)

These topics deliver the rc_visard's estimated dynamic state such as its position, orientation, and velocity. For these topics to work properly, the rc_visard's dynamics module must be turned on (see respective service calls or startup-parameters).

  • /pose (geometry_msgs/PoseStamped; same data as provided via tf if enable_tf is set to true)
  • /pose_ins (geometry_msgs/PoseStamped)
  • /pose_rt (geometry_msgs/PoseStamped)
  • /pose_rt_ins (geometry_msgs/PoseStamped)
  • /dynamics (nav_msgs/Odometry)
  • /dynamics_ins (nav_msgs/Odometry)

This topic delivers raw measurements from the on-board IMU sensor: * /imu (sensor_msgs/Imu)

TF

If the parameter enable_tf is set to true, the node subscribes to the rc_visard's pose stream (same data published on /pose topic) and publishes them on tf.

Relevant Coordinate Frames

The following coordinate frames are relevant for interpreting the data provided by the rc_visard:

  • camera: The pupil's center of the rc_visard's left camera. All stereo-camera data such as images and point clouds are given in this frame.
  • world: Relevant for navigation applications. The world frame’s origin is located at the origin of the rc_visard’s IMU coordinate frame at the instant when state estimation is switched on. Estimated poses of the rc_visard are given in this frame, i.e. as the rc_visard moves in the world and state estimation is running, the camera frame will change w.r.t. this frame.
  • imu: The IMU coordinate frame is inside the rc_visard’s housing. The raw IMU measurements are given in this frame.

Running multiple rc_visard's in one ros environment

For operating multiple rc_visard's in one ros environment, each ros node must be started in separate namespaces, e.g., my_visard. As a result, all frame_ids in all ros messages will be prefixed, e.g., to my_visard_world or my_visard_camera.

Services

The following service is offered to trigger stereo matching in SingleFrame mode. It returns an error if the depth_acquisition_mode is Continuous.

  • depth_acquisition_trigger

The following services are offered to start, stop, and restart the rc_visard's dynamic module (which needs to be started for working dynamic-state estimates).

  • dynamics_start
  • dynamics_restart
  • dynamics_stop
  • dynamics_start_slam
  • dynamics_restart_slam
  • dynamics_stop_slam

The trajectory constructed and stored by the rc_slam node can be retrieved by

  • slam_get_trajectory

The onboard map of the rc_slam node can be saved on the rc_visard for loading it after a SLAM restart or power cycle:

  • slam_save_map
  • slam_load_map
  • slam_remove_map

The onboard rc_slam node can be "reset" (clears the internal state of the SLAM component, including the trajectory) to free the memory with

  • slam_reset

Diagnostics

The rc_visard_driver uses the diagnostics_updater class from the ROS diagnostics stack to regularly publish a DiagnosticStatus Message.

The regular publishing rate can be set via the ~diagnostic_period parameter and defaults to 1 second.

Currently two status are published:

  • Device: Information about the device that the driver is connected to. It covers the rc_visard's serial number, mac address, user-defined GeV ID, and the firmware image version.

  • Connection: Status of the current connection between rc_visard_driver and rc_visard. It publishes 4 different messages:

    • Disconnected (Error): The driver is currently not (yet) connected to the sensor and might try to reconnect several times according to the max_reconnects parameter.
    • Idle (Ok): The driver is connected but not publishing any data because no one is subscribed to any.
    • No data (Warning): The driver is connected and required to publish data but itself does not receive any data from the sensor.
    • Streaming (Ok): The driver is connected and properly streaming data.

The published status values are connection_loss_total, incomplete_buffers_total, image_receive_timeouts_total, and current_reconnect_trial. If not Disconnected, additionally the current ip_address and gev_packet_size are published.

Launching

  • Using command line parameters:

    rosrun rc_visard_driver rc_visard_driver _device:=:02912345 _enable_tf:=True _autostart_dynamics:=True _autostop_dynamics:=True

  • As a nodelet, and in a separate namespace:

    ROS_NAMESPACE=my_visard rosrun nodelet nodelet standalone rc_visard_driver _device:=:02912345

Note that in this setup all frame_ids in all ros messages (including tf-messages) will be prefixed with my_visard, e.g., the frame_id of the published camera images will be my_visard_camera, the frame_id of the poses will be my_visard_world, and the frame_id of the Imu messages will be my_visard_imu.

CHANGELOG

Changelog for package rc_visard_driver

2.5.0 (2019-02-05)

  • add parameter for max number of reconnections
  • fix: enable driver to try to recover even if the very first time no connection worked out
  • add diagnostics
  • fix reporting of package size
  • Fixed hanging image streams after restart of sensor
  • Support for rc_visard firmware v1.5.0 additions (require StereoPlus license)
    • quality full
    • advanced smoothing
  • improved driver\'s auto-connect behavior
  • also reapply dynamic_reconfigure params after recovery
  • fix projection matrix in published right CameraInfo

2.4.2 (2018-10-29)

2.4.1 (2018-10-29)

  • Fixed link error if rc_genicam_api is not installed in a standard directory
  • docker images: upgrade packages first

2.4.0 (2018-10-16)

  • added depth_acquisition_mode parameter
  • added depth_acquisition_trigger service call
  • Reduced latency for passing changes of dynamic parameters and topic discriptions to GenICam
  • Fixed using wrong disparity range in disparity color publisher
  • now depends on rc_genicam_api >= 2.0.0

2.3.0 (2018-08-21)

  • read params from parameter server before falling back to current device params
  • New image topics ...out1_low and ...out1_high are offered if iocontrol module is available

2.2.1 (2018-07-05)

  • Changed to component intensity before changing pixel format for supporting color rc_visards with version >= 1.3.0

2.2.0 (2018-07-03)

  • fix out1_mode/out2_mode description and default
  • change/add service calls for onboard SLAM module:
    • rename dynamics_reset_slam to slam_reset
    • rename get_trajectory to slam_get_trajectory
    • add slam_save_map, slam_load_map and slam_remove_map
  • install Rviz example config file

2.1.1 (2018-06-15)

  • Adjusting disparity range to content of disparity image for colored disparity visualization
  • Added debug message if left and disparity images cannot be synchronized for creating point clouds
  • Implemented parameters for IO control and relaxed time synchronization in case of exposure alternate mode

2.1.0 (2018-04-23)

  • add ptp_enabled dynamic_reconfigure parameter (to enable PrecisionTimeProtocol Slave on rc_visard)
  • add reset service for SLAM
  • README updates
  • use \'rc_visard\' as default device name (works with one rc_visard with factory settings connected)

2.0.0 (2018-02-27)

  • rc_genicam_api and rc_dynamics_api as dependency instead of submodule
  • don\'t reset if datastreams time out
  • added get_trajectory service
  • Use new statemachine interface Return codes are now strings.
  • Add services start_slam, restart_slam and stop_slam
  • Publishing dynamics as odometry message
  • visualizing dynamics message - angular velocity, linear accelerarion published as marker for visualization

    • cam2imu-transform is published with re-created timestamp
  • Contributors: Christian Emmerich, Felix Endres, Felix Ruess, Heiko Hirschmueller

1.2.1 (2018-02-26)

  • use rc_genicam_api as dependency instead of including as submodule also remove launchfile, as the device is a required parameter anyway...
  • Contributors: Felix Ruess

1.2.0 (2018-02-11)

  • Setting default of median to 1 instead of 0, which also means off
  • install rc_visard_driver node in package lib dir, so start it with rosrun rc_visard_driver rc_visard_driver

1.1.3 (2017-04-13)

  • Added possibility to start as ROS node alternatively to nodelet
  • Printing shutdown information to stdout, since ROS log messages just before exit disappear

1.1.2 (2017-04-11)

  • The module reconnects to the GigE Vision server in case of errors
  • Added reporting enabled componets and missing images

1.1.0 (2017-04-10)

  • Implemented setting camera framerate via dynamic reconfigure
  • Implementation of dynamic reconfigure parameters for controlling the depth image

1.0.1 (2017-03-16)

  • Focal length of disparity image now relates to the size of the disparity image
  • Use color for point cloud if color images are available

1.0.0 (2017-03-05)

  • Initial release

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Plugins

Recent questions tagged rc_visard_driver at answers.ros.org

Package Summary

Tags No category tags.
Version 2.5.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/roboception/rc_visard_ros.git
VCS Type git
VCS Version master
Last Updated 2019-02-06
Dev Status DEVELOPED
Released RELEASED

Package Description

The rc_visard_driver provides data from a Roboception rc_visard 3D sensor on several ROS topics.

Additional Links

Maintainers

  • Felix Ruess

Authors

  • Heiko Hirschmueller
  • Christian Emmerich
  • Felix Ruess

rc_visard_driver

This nodelet provides data from a Roboception rc_visard sensor on several ROS topics.

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

Build/Installation

See the main README

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: rc_visard), 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.
    • 'exclusive' Exclusive access to the sensor. This prevents other clients to read GenICam parameters.
    • 'off' Switches gev access completely off. The node only streams pose information if switched on.
  • max_reconnects: Maximum number of consecutive recovery trials in case the driver lost connection to the device or another error happened, e.g. during streaming data. If 0, no recovery is tried at all. If negative, the driver keeps trying to re-connect forever until a connection is re-established. Default: 5.

  • enable_tf: If true then the node subscribes to the rc_visard's dynamics-pose stream and publishes them on tf. Default: false

  • enable_visualization_markers: If true, additional visualization markers are published that visualize the rc_visard's dynamics state (velocities and accelerations), see /dynamics_visualization_markers topic. Default: false

  • autostart_dynamics: If true, the rc_visard's dynamics module is turned on with this ROS node's start up. Default: false

  • autostart_dynamics_with_slam: If true, the rc_visard's dynamics module tries to turn on SLAM with this ROS node's start up. If SLAM is not available (no license) only a warning is printed. Default: false

  • autostop_dynamics: If true, the rc_visard's dynamics module is turned off when this ROS node shuts down. Default: false

  • autopublish_trajectory: If true, results of the get_trajectory service calls are automatically published to /trajectory topic. Default: false

Dynamic-reconfigure Parameters

These parameters can be changed during runtime via dynamic reconfigure:

  • ptp_enabled: Enable PTP slave (PrecisionTimeProtocol, IEEE1588)

  • camera_fps: Frames per second that are published by this nodelet. 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: If true, then the exposure time is chosen automatically, up to exp_max as maximum. If false, then exp_value is used as exposure time in seconds.

  • camera_exp_max: Maximum exposure time in seconds if exp_auto is true.

  • camera_exp_value: Exposure time in seconds if exp_auto is false.

  • camera_gain_value: Gain factor in decibel if exp_auto is false.

  • depth_acquisition_mode: Can be either SingleFrame or Continuous. Only the first letter will be checked, thus giving S or C is sufficient.

  • depth_quality: Quality can be "Low", "Medium", "High" and "Full". Only the first letter will be checked, thus specification of "L", "M", "H" or "F" is sufficient. The quality setting effectively downscales the image after the downscale factor as given above:

    • Full does not downscale the image, i.e. factor is 1 (e.g. 1280x960). NOTE: This mode requires the 'stereo_plus' license on the rc_visard.
    • High downscales by factor 2 (e.g. 640x480).
    • Medium downscales by factor 4 (e.g. 320x240).
    • Low downscales by factor 6 (e.g. 214x160).
  • depth_static_scene: This parameter can be set to true if the scene and camera is static. It only has an effect if quality is either High or Full. If active, input images are accumulated and averaged for 300 ms to reduce noise. This limits the frame rate to a maximum of 3 Hz. The timestamp of the disparity image is taken from the first image that was used for accumulation.

  • depth_disprange: Disparity range in pixel, related to the downscaled image at quality=H. The range is adapted to the quality.

  • depth_fill: Higher numbers fill gaps with measurments with potentielly higher errors.

  • depth_seg: Maximum size of isolated disparity regions that will be invalidated, related to full resolution.

  • depth_smooth: Switching smoothing of disparities on or off. NOTE: Smoothing requires the 'stereo_plus' license on the rc_visard.

  • depth_median: Performs median filtering with the given window size.

  • depth_minconf: Minimal confidence. All disparities with lower confidence will be set to invalid.

  • depth_mindepth: Minimum depth in meter. All disparities with lower depth will be set to invalid.

  • depth_maxdepth: Maximum depth in meter. All disparities with higher depth will be set to invalid.

  • depth_maxdeptherr: Maximum depth error in meter. All disparities with a higher depth error will be set to invalid.

  • out1_mode: Mode for the digital GPIO out1. Possible values are:

    • Low for switching out1 permanently off.
    • High for switching out1 permanently on.
    • ExposureActive for switching out1 on for the exposure time of every image.
    • ExposureAlternateActive for switching out1 on for the exposure time of every second image.

The value can only be changed if the rc_visard has an IO Control license. The default is ExposureActive.

  • out2_mode: Mode for the digital GPIO out2. The functionality is the same as for out1_mode. The default is Low.

For color sensors, the following dynamic-reconfigure parameters are additionally available:

  • camera_wb_auto: If true, then white balancing is done automatically. If false, then the red and blue to green ratios can be chosen manually.

  • camera_wb_ratio_red: Red to green ratio for color balancing if camera_wb_auto is false.

  • camera_wb_ratio_blue: Blue to green ratio for color balancing if camera_wb_auto is false.

Provided Topics

The following topics are provided. The nodelet tries to request only data (e.g., images, poses) from the sensor if there is subscriber to the corresponding topic.

Images, Stereo Data, Point Clouds

  • /stereo/left/camera_info (sensor_msgs::CameraInfo)
  • /stereo/right/camera_info (sensor_msgs::CameraInfo)
  • /stereo/left/image_rect (sensor_msgs::Image, MONO8)
  • /stereo/right/image_rect (sensor_msgs::Image, MONO8)
  • /stereo/disparity (stereo_msgs::DisparityImage)
  • /stereo/disparity_color (sensor_msgs::Image, RGB8, visually pleasing)
  • /stereo/depth (sensor_msgs::Image, TYPE_32FC1)
  • /stereo/confidence (sensor_msgs::Image, TYPE_32FC1, values between 0 and 1)
  • /stereo/error_disparity (sensor_msgs::Image, TYPE_32FC1)
  • /stereo/error_depth (sensor_msgs::Image, TYPE_32FC1)
  • /stereo/points2 (sensor_msgs::PointCloud2)

For color sensors, the following topics are additionally available:

  • /stereo/left/image_rect_color (sensor_msgs::Image, format: RGB8)
  • /stereo/right/image_rect_color (sensor_msgs::Image, format: RGB8)

If the connected rc_visard has an IO Control license, then the following topics are additionally provided for images where the GPIO out1 is either low or high. These topics only useful if out1_mode is set to the special mode ExposureAlternateActive.

  • /stereo/left/image_rect_out1_low (sensor_msgs::Image, MONO8)
  • /stereo/left/image_rect_out1_high (sensor_msgs::Image, MONO8)
  • /stereo/right/image_rect_out1_low (sensor_msgs::Image, MONO8)
  • /stereo/right/image_rect_out1_high (sensor_msgs::Image, MONO8)

For color sensors with an IO Control license, the following topics are additionally available:

  • /stereo/left/image_rect_color_out1_low (sensor_msgs::Image, format: RGB8)
  • /stereo/left/image_rect_color_out1_high (sensor_msgs::Image, format: RGB8)
  • /stereo/right/image_rect_color_out1_low (sensor_msgs::Image, format: RGB8)
  • /stereo/right/image_rect_color_out1_high (sensor_msgs::Image, format: RGB8)

Dynamic State (i.e. poses, IMU data, etc.)

These topics deliver the rc_visard's estimated dynamic state such as its position, orientation, and velocity. For these topics to work properly, the rc_visard's dynamics module must be turned on (see respective service calls or startup-parameters).

  • /pose (geometry_msgs/PoseStamped; same data as provided via tf if enable_tf is set to true)
  • /pose_ins (geometry_msgs/PoseStamped)
  • /pose_rt (geometry_msgs/PoseStamped)
  • /pose_rt_ins (geometry_msgs/PoseStamped)
  • /dynamics (nav_msgs/Odometry)
  • /dynamics_ins (nav_msgs/Odometry)

This topic delivers raw measurements from the on-board IMU sensor: * /imu (sensor_msgs/Imu)

TF

If the parameter enable_tf is set to true, the node subscribes to the rc_visard's pose stream (same data published on /pose topic) and publishes them on tf.

Relevant Coordinate Frames

The following coordinate frames are relevant for interpreting the data provided by the rc_visard:

  • camera: The pupil's center of the rc_visard's left camera. All stereo-camera data such as images and point clouds are given in this frame.
  • world: Relevant for navigation applications. The world frame’s origin is located at the origin of the rc_visard’s IMU coordinate frame at the instant when state estimation is switched on. Estimated poses of the rc_visard are given in this frame, i.e. as the rc_visard moves in the world and state estimation is running, the camera frame will change w.r.t. this frame.
  • imu: The IMU coordinate frame is inside the rc_visard’s housing. The raw IMU measurements are given in this frame.

Running multiple rc_visard's in one ros environment

For operating multiple rc_visard's in one ros environment, each ros node must be started in separate namespaces, e.g., my_visard. As a result, all frame_ids in all ros messages will be prefixed, e.g., to my_visard_world or my_visard_camera.

Services

The following service is offered to trigger stereo matching in SingleFrame mode. It returns an error if the depth_acquisition_mode is Continuous.

  • depth_acquisition_trigger

The following services are offered to start, stop, and restart the rc_visard's dynamic module (which needs to be started for working dynamic-state estimates).

  • dynamics_start
  • dynamics_restart
  • dynamics_stop
  • dynamics_start_slam
  • dynamics_restart_slam
  • dynamics_stop_slam

The trajectory constructed and stored by the rc_slam node can be retrieved by

  • slam_get_trajectory

The onboard map of the rc_slam node can be saved on the rc_visard for loading it after a SLAM restart or power cycle:

  • slam_save_map
  • slam_load_map
  • slam_remove_map

The onboard rc_slam node can be "reset" (clears the internal state of the SLAM component, including the trajectory) to free the memory with

  • slam_reset

Diagnostics

The rc_visard_driver uses the diagnostics_updater class from the ROS diagnostics stack to regularly publish a DiagnosticStatus Message.

The regular publishing rate can be set via the ~diagnostic_period parameter and defaults to 1 second.

Currently two status are published:

  • Device: Information about the device that the driver is connected to. It covers the rc_visard's serial number, mac address, user-defined GeV ID, and the firmware image version.

  • Connection: Status of the current connection between rc_visard_driver and rc_visard. It publishes 4 different messages:

    • Disconnected (Error): The driver is currently not (yet) connected to the sensor and might try to reconnect several times according to the max_reconnects parameter.
    • Idle (Ok): The driver is connected but not publishing any data because no one is subscribed to any.
    • No data (Warning): The driver is connected and required to publish data but itself does not receive any data from the sensor.
    • Streaming (Ok): The driver is connected and properly streaming data.

The published status values are connection_loss_total, incomplete_buffers_total, image_receive_timeouts_total, and current_reconnect_trial. If not Disconnected, additionally the current ip_address and gev_packet_size are published.

Launching

  • Using command line parameters:

    rosrun rc_visard_driver rc_visard_driver _device:=:02912345 _enable_tf:=True _autostart_dynamics:=True _autostop_dynamics:=True

  • As a nodelet, and in a separate namespace:

    ROS_NAMESPACE=my_visard rosrun nodelet nodelet standalone rc_visard_driver _device:=:02912345

Note that in this setup all frame_ids in all ros messages (including tf-messages) will be prefixed with my_visard, e.g., the frame_id of the published camera images will be my_visard_camera, the frame_id of the poses will be my_visard_world, and the frame_id of the Imu messages will be my_visard_imu.

CHANGELOG

Changelog for package rc_visard_driver

2.5.0 (2019-02-05)

  • add parameter for max number of reconnections
  • fix: enable driver to try to recover even if the very first time no connection worked out
  • add diagnostics
  • fix reporting of package size
  • Fixed hanging image streams after restart of sensor
  • Support for rc_visard firmware v1.5.0 additions (require StereoPlus license)
    • quality full
    • advanced smoothing
  • improved driver\'s auto-connect behavior
  • also reapply dynamic_reconfigure params after recovery
  • fix projection matrix in published right CameraInfo

2.4.2 (2018-10-29)

2.4.1 (2018-10-29)

  • Fixed link error if rc_genicam_api is not installed in a standard directory
  • docker images: upgrade packages first

2.4.0 (2018-10-16)

  • added depth_acquisition_mode parameter
  • added depth_acquisition_trigger service call
  • Reduced latency for passing changes of dynamic parameters and topic discriptions to GenICam
  • Fixed using wrong disparity range in disparity color publisher
  • now depends on rc_genicam_api >= 2.0.0

2.3.0 (2018-08-21)

  • read params from parameter server before falling back to current device params
  • New image topics ...out1_low and ...out1_high are offered if iocontrol module is available

2.2.1 (2018-07-05)

  • Changed to component intensity before changing pixel format for supporting color rc_visards with version >= 1.3.0

2.2.0 (2018-07-03)

  • fix out1_mode/out2_mode description and default
  • change/add service calls for onboard SLAM module:
    • rename dynamics_reset_slam to slam_reset
    • rename get_trajectory to slam_get_trajectory
    • add slam_save_map, slam_load_map and slam_remove_map
  • install Rviz example config file

2.1.1 (2018-06-15)

  • Adjusting disparity range to content of disparity image for colored disparity visualization
  • Added debug message if left and disparity images cannot be synchronized for creating point clouds
  • Implemented parameters for IO control and relaxed time synchronization in case of exposure alternate mode

2.1.0 (2018-04-23)

  • add ptp_enabled dynamic_reconfigure parameter (to enable PrecisionTimeProtocol Slave on rc_visard)
  • add reset service for SLAM
  • README updates
  • use \'rc_visard\' as default device name (works with one rc_visard with factory settings connected)

2.0.0 (2018-02-27)

  • rc_genicam_api and rc_dynamics_api as dependency instead of submodule
  • don\'t reset if datastreams time out
  • added get_trajectory service
  • Use new statemachine interface Return codes are now strings.
  • Add services start_slam, restart_slam and stop_slam
  • Publishing dynamics as odometry message
  • visualizing dynamics message - angular velocity, linear accelerarion published as marker for visualization

    • cam2imu-transform is published with re-created timestamp
  • Contributors: Christian Emmerich, Felix Endres, Felix Ruess, Heiko Hirschmueller

1.2.1 (2018-02-26)

  • use rc_genicam_api as dependency instead of including as submodule also remove launchfile, as the device is a required parameter anyway...
  • Contributors: Felix Ruess

1.2.0 (2018-02-11)

  • Setting default of median to 1 instead of 0, which also means off
  • install rc_visard_driver node in package lib dir, so start it with rosrun rc_visard_driver rc_visard_driver

1.1.3 (2017-04-13)

  • Added possibility to start as ROS node alternatively to nodelet
  • Printing shutdown information to stdout, since ROS log messages just before exit disappear

1.1.2 (2017-04-11)

  • The module reconnects to the GigE Vision server in case of errors
  • Added reporting enabled componets and missing images

1.1.0 (2017-04-10)

  • Implemented setting camera framerate via dynamic reconfigure
  • Implementation of dynamic reconfigure parameters for controlling the depth image

1.0.1 (2017-03-16)

  • Focal length of disparity image now relates to the size of the disparity image
  • Use color for point cloud if color images are available

1.0.0 (2017-03-05)

  • Initial release

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