master: dev:

spinnaker_sdk_camera_driver

These are the ros drivers for running the Pt Grey (FLIR) cameras that use the Spinnaker SDK. This code has been tested with various Point Grey Blackfly S (BFS) cameras.

Compatibility Matrix

| Spinnaker | Architecture | Ubnuntu 16.04 Xenial +
ROS Kinetic | Ubnuntu 18.04 Bionic +
ROS Melodic | Ubnuntu 20.04 Focal +
ROS Noetic | |———–|:————:|:————————————–:|:————————————-:|:———————————–:| | 1.17.0.23 | AMD64 | :heavy_check_mark: | :heavy_minus_sign: | :heavy_minus_sign: | | 1.17.0.23 | ARM64 | :heavy_check_mark: | :heavy_minus_sign: | :heavy_minus_sign: | | 1.24.0.60 | AMD64 | :heavy_check_mark: | :heavy_minus_sign: | :heavy_minus_sign: | | 1.24.0.60 | ARM64 | :heavy_check_mark: | :heavy_minus_sign: | :heavy_minus_sign: | | 2.0.0.147 | AMD64 | :heavy_check_mark: | :white_check_mark: | :heavy_minus_sign: | | 2.0.0.147 | ARM64 | :heavy_check_mark: | | :heavy_minus_sign: | | 2.2.0.48 | AMD64 | :heavy_minus_sign: | :heavy_check_mark: | :white_check_mark: | | 2.2.0.48 | ARM64 | :heavy_minus_sign: | | | | 2.3.0.77 | AMD64 | :heavy_minus_sign: | | :x: | | 2.3.0.77 | ARM64 | :heavy_minus_sign: | :x: | |

:heavy_check_mark: Tested :heavy_minus_sign: Not Applicable :white_check_mark: Reported to work :x: Known compatibility Issue

Getting Started

These instructions will get you a copy of the project up and running on your local machine for development and testing purposes.

Prerequisites

The pre-requisites for this repo include:

• ros-kinetic-desktop-full
• spinnaker (download from Pt Grey’s website)
• ros-kinetic-cv-bridge
• ros-kinetic-image-transport

After installing spinnaker, Verify that you can run your cameras with SpinView.

For x86_64 or x86_32 architecture, install the following:

• libunwind-dev

# after installing ros, install other pre-requisites with: 

sudo apt install libunwind-dev ros-kinetic-cv-bridge ros-kinetic-image-transport

For arm64 (aarch64) architecture, install pre-requisites with:

sudo apt install ros-kinetic-cv-bridge ros-kinetic-image-transport

Installing

To install this spinnaker_sdk_camera_driver

mkdir -p ~/spinnaker_ws/src
cd spinnaker_ws/src
git clone https://github.com/neufieldrobotics/spinnaker_camera_driver.git
cd ~/spinnaker_ws/
catkin_make
source ~/spinnaker_ws/devel/setup.bash
# add this to ~/.bashrc to make this permanent 

Running the drivers

Modify the params/test_params.yaml file replacing the cam-ids and master cam serial number to match your camera’s serial number. Then run the code as:

# To launch nodelet verison of driver, use #
roslaunch spinnaker_sdk_camera_driver acquisition.launch

# To launch node version of driver, use #
roslaunch spinnaker_sdk_camera_driver node_acquisition.launch

# Test that the images are being published by running
rqt_image_view

Parmeters

All the parameters can be set via the launch file or via the yaml config_file. It is good practice to specify all the ‘task’ specific parameters via launch file and all the ‘system configuration’ specific parameters via a config_file.

Task Specific Parameters

• ~binning (int, default: 1)
  Binning for cameras, when changing from 2 to 1 cameras need to be unplugged and replugged
• ~color (bool, default: false)
  Should color images be used (only works on models that support color images)
• ~exposure_time (int, default: 0, 0:auto)
  Exposure setting for cameras, also available as dynamic reconfiguarble parameter.
• ~external_trigger (bool, default: false)
  Camera triggering setting when using an external trigger. In this mode, none of the cameras would be set as a master camera. All cameras are setup to use external trigger. In this mode the main loop runs at rate set by soft_framerate, so if the external trigger rate is higher than the soft_framerate, the buffer will get filled and images will have a lag. Also in this mode, the getnextimage timeout is set to infinite so that the node dosen’t die if a trigger is not received for a while.
• ~target_grey_value (double, default: 0 , 0:Continous/auto) Setting target_grey_value > 4 (min:4 , max:99) will turn AutoExposureTargetGreyValueAuto to ‘off’ and set AutoExposureTargetGreyValue to target_grey_value. Also available as dynamic reconfigurable parameter. see below in Dynamic reconfigurable parameter section.
• ~frames (int, default: 50)
  Number of frames to save/view 0=ON
• ~live (bool, default: false)
  Show images on screen GUI
• ~live_grid (bool, default: false)
  Show images on screen GUI in a grid

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