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Added camera test files for topic transport

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This commit is contained in:
Corwin Perren
2018-02-26 18:43:43 -08:00
parent 2fe9e433dc
commit 4bc01f75d7
4 changed files with 45 additions and 6 deletions
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4
software/rover/nimbro_topic_transport/launch/camera_topics.yaml Normal file
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@@ -0,0 +1,4 @@
topics:
- name: "/usb_cam/image_raw"
compress: true # enable bz2 compression
rate: 30.0 # rate limit at 1Hz

14
software/rover/nimbro_topic_transport/launch/udp_camera_receiver.launch Normal file
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<launch>
<!--
This launch file runs a udp_receiver node, which receives topics
over the network on port 17001 and publishes them on the local roscore.
See udp_sender.launch for the sender part.
-->
<node name="udp_receiver" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<!-- The port to receive packets on -->
<param name="port" value="17002" />
</node>
</launch>

26
software/rover/nimbro_topic_transport/launch/udp_camera_sender.launch Normal file
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@@ -0,0 +1,26 @@
<launch>
<!--
This launch file runs a udp_sender node, which sends topics from the local
roscore over the network on port 17001.
By default, this launch file sends topics to your local machine for
testing purposes. If you want to send to another machine, use
roslaunch nimbro_topic_transport udp_sender.launch target:=other_host
where other_host can be a host name or IP address.
See udp_receiver.launch for the receiving part.
-->
<arg name="target" default="192.168.1.10" />
<!-- The UDP sender node -->
<node name="udp_sender" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<!-- The destination host name or IP address -->
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17002" />
<!-- Load the list of topics from a YAML file -->
<rosparam command="load" file="$(find nimbro_topic_transport)/launch/camera_topics.yaml" />
</node>
</launch>

7
software/rover/rover_camera/launch/example.launch
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@@ -9,15 +9,10 @@
</node>
<node name="gimbal" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 3" output="screen" >
<node name="camera_chassis" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 3" output="screen" >
<param name="device_path" value="/dev/rover/camera_chassis" />
</node>
</group>
<!--
<node name="image_view" pkg="image_view" type="image_view" launch-prefix="taskset -c 4" output="screen">
<remap from="image" to="/cameras/camera_name/image_720p"/>
</node>
-->
</launch>