A ROS node to provide access to Prosilica cameras.
- Author: Patrick Mihelich
- License: BSD
- Repository: ros-pkg
- Source: svn https://code.ros.org/svn/ros-pkg/stacks/camera_drivers/trunk/prosilica_camera
The ROS API of this package is stable. The driver node has been tested extensively with the GC2450C model, which was used in the Willow Garage Milestone 2. The node should work with any Prosilica GigE camera, and we welcome reports of use with other cameras.
For basic vision processing of camera images, see the image_pipeline.
prosilica_nodeROS driver for Prosilica GigE cameras. Note that the ROS API varies depending on whether the driver is in streaming or polled mode. In streaming mode it publishes to camera/image_raw and camera/camera_info like any other camera. In polled mode it publishes on request to a client-specified namespace, following the polled_camera protocol.
image_transport is used for all image publications.
- The raw image topic.
- Calibration info for each image.
Polled modeThere may be multiple clients, each with their own response_namespace. These topics are only published in response to the request_image service.
- The polled image topic for a particular client.
- The corresponding camera state.
- Sets the calibration parameters stored internally on the camera.
- Captures an image and publishes it in the namespace specified by the request message. Returns the timestamp.
Camera selectionIf ~ip_address is set, the node opens the camera at that IP. If only ~guid is set, the node opens the camera with that unique ID. If both, the camera is opened by IP address and the GUID verified. If neither, the node opens the first available camera.
- IP address of the camera to open.
- Unique ID of the camera to open.
Dynamically Reconfigurable ParametersSee the dynamic_reconfigure package for details on dynamically reconfigurable parameters.
- Whether to run in polled, streaming, syncin1 or syncin2 mode. This determines the node's ROS API (see above). Use the syncin modes when you like to use an external trigger (wired to the camera input pin for syncin1 or syncin2, respectively), e.g. from a second camera.
- If set, the camera determines the exposure duration automatically. Causes the ~exposure setting to be ignored.
- Exposure time in seconds.
- If set, the camera determines the analog gain automatically. Causes the ~gain setting to be ignored.
- The gain level in dB.
- If set, the whitebalance will continuously adjust to the current scene. Causes the ~whitebalance_red and ~whitebalance_blue settings to be ignored.
- Red gain as a percentage of the camera default setting.
- Blue gain as a percentage of the camera default setting.
- The optical camera TF frame set in message headers.
Sets the camera to a fixed IP address. The camera must be visible to ListCameras, and must be the only camera listed. The camera must be unopened (i.e. prosilica_node should not be running). This tool is normally used once to configure a new camera (see the tutorials).
$ set_ip <IP address>