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

• rc_genicam_api

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.:

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