mirror of
https://github.com/OSURoboticsClub/Rover_2017_2018.git
synced 2025-12-31 03:24:18 +00:00
Added rover catkin packages
This commit is contained in:
22
rover/gscam/examples/decklink.launch
Normal file
22
rover/gscam/examples/decklink.launch
Normal file
@@ -0,0 +1,22 @@
|
||||
<launch>
|
||||
<!-- This launchfile should bring up a node that broadcasts a ros image
|
||||
transport on /decklink/image_raw from the input channel of a BlackMagic
|
||||
DeckLink SDI capture card-->
|
||||
|
||||
<!-- DeckLink config, run $ gst-inspect decklinksrc to see all the options for your card -->
|
||||
<arg name="MODE" default="ntsc"/>
|
||||
<arg name="CONNECTION" default="sdi"/>
|
||||
<arg name="SUBDEVICE" default="0"/>
|
||||
<arg name="PUBLISH_FRAME" default="false"/>
|
||||
|
||||
<node ns="decklink" name="gscam_driver_decklink" pkg="gscam" type="gscam" output="screen">
|
||||
<param name="camera_name" value="default"/>
|
||||
<param name="camera_info_url" value="package://gscam/examples/uncalibrated_parameters.ini"/>
|
||||
<param name="gscam_config" value="decklinksrc mode=$(arg MODE) connection=$(arg CONNECTION) subdevice=$(arg SUBDEVICE) ! ffmpegcolorspace "/>
|
||||
<param name="frame_id" value="/decklink_frame"/>
|
||||
<!-- This needs to be set to false to avoid dropping tons of frames -->
|
||||
<param name="sync_sink" value="false"/>
|
||||
</node>
|
||||
|
||||
<node name="decklink_transform" pkg="tf" type="static_transform_publisher" args="1 2 3 0 -3.141 0 /world /decklink_frame 10"/>
|
||||
</launch>
|
||||
20
rover/gscam/examples/gscam_nodelet.launch
Normal file
20
rover/gscam/examples/gscam_nodelet.launch
Normal file
@@ -0,0 +1,20 @@
|
||||
<launch>
|
||||
<arg name="DEVICE" default="/dev/video0"/>
|
||||
<!-- The GStreamer framerate needs to be an integral fraction -->
|
||||
<arg name="FPS" default="30/1"/>
|
||||
|
||||
<node pkg="nodelet" type="nodelet"
|
||||
name="standalone_nodelet" args="manager"
|
||||
output="screen"/>
|
||||
|
||||
<node pkg="nodelet" type="nodelet"
|
||||
name="GSCamNodelet"
|
||||
args="load gscam/GSCamNodelet standalone_nodelet"
|
||||
output="screen">
|
||||
<param name="camera_name" value="default"/>
|
||||
<param name="camera_info_url" value="package://gscam/examples/uncalibrated_parameters.ini"/>
|
||||
<param name="gscam_config" value="v4l2src device=$(arg DEVICE) ! video/x-raw-rgb,framerate=$(arg FPS) ! ffmpegcolorspace"/>
|
||||
<param name="frame_id" value="/v4l_frame"/>
|
||||
<param name="sync_sink" value="true"/>
|
||||
</node>
|
||||
</launch>
|
||||
39
rover/gscam/examples/minoru.launch
Normal file
39
rover/gscam/examples/minoru.launch
Normal file
@@ -0,0 +1,39 @@
|
||||
<launch>
|
||||
<!-- This launchfile should bring up a node that broadcasts a ros image
|
||||
transport on /webcam/image_raw -->
|
||||
|
||||
<arg name="LEFT_DEV" default="/dev/video0"/>
|
||||
<arg name="RIGHT_DEV" default="/dev/video1"/>
|
||||
<!-- The GStreamer framerate needs to be an integral fraction -->
|
||||
<!-- Note: Minoru can't push full 640x480 at 30fps -->
|
||||
<arg name="WIDTH" default="320"/>
|
||||
<arg name="HEIGHT" default="240"/>
|
||||
<arg name="FPS" default="30/1"/>
|
||||
<arg name="BRIGHTNESS" default="0"/>
|
||||
<arg name="PUBLISH_FRAME" default="false"/>
|
||||
|
||||
<!-- Construct the v4l2src format config -->
|
||||
<arg name="FORMAT" default="video/x-raw-rgb,width=$(arg WIDTH),height=$(arg HEIGHT),framerate=$(arg FPS)"/>
|
||||
|
||||
<group ns="minoru">
|
||||
<node ns="left" name="gscam_driver_v4l" pkg="gscam" type="gscam" output="screen">
|
||||
<param name="camera_name" value="default"/>
|
||||
<param name="camera_info_url" value="package://gscam/examples/uncalibrated_parameters.ini"/>
|
||||
<param name="gscam_config"
|
||||
value="v4l2src device=$(arg LEFT_DEV) brightness=$(arg BRIGHTNESS) ! $(arg FORMAT) ! ffmpegcolorspace"/>
|
||||
<param name="frame_id" value="/minoru_left"/>
|
||||
<param name="sync_sink" value="true"/>
|
||||
</node>
|
||||
<node ns="right" name="gscam_driver_v4l" pkg="gscam" type="gscam" output="screen">
|
||||
<param name="camera_name" value="default"/>
|
||||
<param name="camera_info_url" value="package://gscam/examples/uncalibrated_parameters.ini"/>
|
||||
<param name="gscam_config"
|
||||
value="v4l2src device=$(arg RIGHT_DEV) brightness=$(arg BRIGHTNESS) ! $(arg FORMAT) ! ffmpegcolorspace"/>
|
||||
<param name="frame_id" value="/minoru_right"/>
|
||||
<param name="sync_sink" value="true"/>
|
||||
</node>
|
||||
</group>
|
||||
|
||||
<node if="$(arg PUBLISH_FRAME)" name="left_transform" pkg="tf" type="static_transform_publisher" args="1 2 3 0 -3.141 0 /world /minoru_left 10"/>
|
||||
<node if="$(arg PUBLISH_FRAME)" name="right_transform" pkg="tf" type="static_transform_publisher" args="1 2 3 0 -3.141 0 /world /minoru_right 10"/>
|
||||
</launch>
|
||||
41
rover/gscam/examples/nodelet_pipeline.launch
Normal file
41
rover/gscam/examples/nodelet_pipeline.launch
Normal file
@@ -0,0 +1,41 @@
|
||||
<!-- -*- mode: XML -*- -->
|
||||
|
||||
<!-- Load Bayer color correction and recification into camera nodelet
|
||||
manager process.
|
||||
|
||||
this is a test script: NOT FOR GENERAL USE
|
||||
|
||||
-->
|
||||
|
||||
<launch>
|
||||
|
||||
<!-- start the driver in a camera_nodelet_manager process -->
|
||||
<include file="$(find gscam)/gscam_nodelet.launch" >
|
||||
</include>
|
||||
|
||||
<!-- Bayer color decoding -->
|
||||
<node pkg="nodelet" type="nodelet" name="image_proc_debayer"
|
||||
args="load image_proc/debayer camera_nodelet_manager">
|
||||
<remap from="camera_info" to="camera/camera_info" />
|
||||
<remap from="image_color" to="camera/image_color" />
|
||||
<remap from="image_mono" to="camera/image_mono" />
|
||||
<remap from="image_raw" to="camera/image_raw" />
|
||||
</node>
|
||||
|
||||
<!-- mono rectification -->
|
||||
<node pkg="nodelet" type="nodelet" name="image_proc_rect"
|
||||
args="load image_proc/rectify camera_nodelet_manager">
|
||||
<remap from="camera_info" to="camera/camera_info" />
|
||||
<remap from="image_mono" to="camera/image_mono" />
|
||||
<remap from="image_rect" to="camera/image_rect" />
|
||||
</node>
|
||||
|
||||
<!-- color rectification -->
|
||||
<node pkg="nodelet" type="nodelet" name="image_proc_rect_color"
|
||||
args="load image_proc/rectify camera_nodelet_manager">
|
||||
<remap from="camera_info" to="camera/camera_info" />
|
||||
<remap from="image_mono" to="camera/image_color" />
|
||||
<remap from="image_rect" to="camera/image_rect_color" />
|
||||
</node>
|
||||
|
||||
</launch>
|
||||
20
rover/gscam/examples/osx.launch
Normal file
20
rover/gscam/examples/osx.launch
Normal file
@@ -0,0 +1,20 @@
|
||||
<launch>
|
||||
<!-- This launchfile should bring up a node that broadcasts a ros image
|
||||
transport on /webcam/image_raw -->
|
||||
|
||||
<!-- The GStreamer device-index needs to be an integer -->
|
||||
<arg name="DEVICE_INDEX" default="0"/>
|
||||
<!-- The GStreamer framerate needs to be an integral fraction -->
|
||||
<arg name="FPS" default="30/1"/>
|
||||
<arg name="PUBLISH_FRAME" default="false"/>
|
||||
|
||||
<node ns="qtkit" name="gscam_driver_qtkit" pkg="gscam" type="gscam" output="screen">
|
||||
<param name="camera_name" value="default"/>
|
||||
<param name="camera_info_url" value="package://gscam/examples/uncalibrated_parameters.ini"/>
|
||||
<param name="gscam_config" value="qtkitvideosrc device-index=$(arg DEVICE_INDEX) ! video/x-raw-yuv,framerate=$(arg FPS) ! ffmpegcolorspace"/>
|
||||
<param name="frame_id" value="/qtkit_frame"/>
|
||||
<param name="sync_sink" value="true"/>
|
||||
</node>
|
||||
|
||||
<node if="$(arg PUBLISH_FRAME)" name="qtkit_transform" pkg="tf" type="static_transform_publisher" args="1 2 3 0 -3.141 0 /world /qtkit_frame 10"/>
|
||||
</launch>
|
||||
30
rover/gscam/examples/uncalibrated_parameters.ini
Normal file
30
rover/gscam/examples/uncalibrated_parameters.ini
Normal file
@@ -0,0 +1,30 @@
|
||||
# Camera intrinsics
|
||||
|
||||
[image]
|
||||
|
||||
width
|
||||
320
|
||||
|
||||
height
|
||||
240
|
||||
|
||||
[default]
|
||||
|
||||
camera matrix
|
||||
467.14110 0.00000 158.56653
|
||||
0.00000 465.42608 131.37432
|
||||
0.00000 0.00000 1.00000
|
||||
|
||||
distortion
|
||||
-0.16999 0.31931 0.00929 0.00040 0.00000
|
||||
|
||||
|
||||
rectification
|
||||
1.00000 0.00000 0.00000
|
||||
0.00000 1.00000 0.00000
|
||||
0.00000 0.00000 1.00000
|
||||
|
||||
projection
|
||||
458.62505 0.00000 158.11160 0.00000
|
||||
0.00000 457.90904 131.91881 0.00000
|
||||
0.00000 0.00000 1.00000 0.00000
|
||||
19
rover/gscam/examples/v4l.launch
Normal file
19
rover/gscam/examples/v4l.launch
Normal file
@@ -0,0 +1,19 @@
|
||||
<launch>
|
||||
<!-- This launchfile should bring up a node that broadcasts a ros image
|
||||
transport on /webcam/image_raw -->
|
||||
|
||||
<arg name="DEVICE" default="/dev/video0"/>
|
||||
<!-- The GStreamer framerate needs to be an integral fraction -->
|
||||
<arg name="FPS" default="30/1"/>
|
||||
<arg name="PUBLISH_FRAME" default="false"/>
|
||||
|
||||
<node ns="v4l" name="gscam_driver_v4l" pkg="gscam" type="gscam" output="screen">
|
||||
<param name="camera_name" value="default"/>
|
||||
<param name="camera_info_url" value="package://gscam/examples/uncalibrated_parameters.ini"/>
|
||||
<param name="gscam_config" value="v4l2src device=$(arg DEVICE) ! video/x-raw-rgb,framerate=$(arg FPS) ! ffmpegcolorspace"/>
|
||||
<param name="frame_id" value="/v4l_frame"/>
|
||||
<param name="sync_sink" value="true"/>
|
||||
</node>
|
||||
|
||||
<node if="$(arg PUBLISH_FRAME)" name="v4l_transform" pkg="tf" type="static_transform_publisher" args="1 2 3 0 -3.141 0 /world /v4l_frame 10"/>
|
||||
</launch>
|
||||
20
rover/gscam/examples/v4ljpeg.launch
Normal file
20
rover/gscam/examples/v4ljpeg.launch
Normal file
@@ -0,0 +1,20 @@
|
||||
<launch>
|
||||
<!-- This launchfile should bring up a node that broadcasts a ros image
|
||||
transport on /webcam/image_raw -->
|
||||
|
||||
<arg name="DEVICE" default="/dev/video0"/>
|
||||
<!-- The GStreamer framerate needs to be an integral fraction -->
|
||||
<arg name="FPS" default="30/1"/>
|
||||
<arg name="PUBLISH_FRAME" default="false"/>
|
||||
|
||||
<node ns="v4l" name="gscam_driver_v4l" pkg="gscam" type="gscam" output="screen">
|
||||
<param name="camera_name" value="default"/>
|
||||
<param name="camera_info_url" value="package://gscam/examples/uncalibrated_parameters.ini"/>
|
||||
<param name="gscam_config" value="v4l2src do-timestamp=true is-live=true ! video/x-raw-yuv ! jpegenc ! multipartmux ! multipartdemux ! jpegparse"/>
|
||||
<param name="use_gst_timestamps" value="true"/>
|
||||
<param name="image_encoding" value="jpeg"/>
|
||||
<param name="frame_id" value="/v4l_frame"/>
|
||||
<param name="sync_sink" value="true"/>
|
||||
</node>
|
||||
|
||||
</launch>
|
||||
19
rover/gscam/examples/videofile.launch
Normal file
19
rover/gscam/examples/videofile.launch
Normal file
@@ -0,0 +1,19 @@
|
||||
<launch>
|
||||
<!-- This launchfile should bring up a node that broadcasts a ros image
|
||||
transport on /videofile/image_raw -->
|
||||
|
||||
<arg name="FILENAME"/>
|
||||
<arg name="LOOP" default="true"/>
|
||||
<arg name="PUBLISH_FRAME" default="false"/>
|
||||
|
||||
<node ns="videofile" name="gscam_driver_v4l" pkg="gscam" type="gscam" output="screen">
|
||||
<param name="camera_name" value="default"/>
|
||||
<param name="camera_info_url" value="package://gscam/examples/uncalibrated_parameters.ini"/>
|
||||
<param name="gscam_config" value="filesrc location=$(arg FILENAME) ! decodebin ! ffmpegcolorspace"/>
|
||||
<param name="frame_id" value="/videofile_frame"/>
|
||||
<param name="sync_sink" value="true"/>
|
||||
<param name="reopen_on_eof" value="$(arg LOOP)"/>
|
||||
</node>
|
||||
|
||||
<node if="$(arg PUBLISH_FRAME)" name="videofile_transform" pkg="tf" type="static_transform_publisher" args="1 2 3 0 -3.141 0 /world /videofile_frame 10"/>
|
||||
</launch>
|
||||
Reference in New Issue
Block a user