caperren/osurc_mars_rover_2017_2018
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Started rewrite of rover_camera so we can view rtsp streams and control which streams are enabled. Changed senders / receivers for new camera.

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This commit is contained in:
Corwin Perren
2018-03-04 19:59:07 -08:00
parent 8b83e84677
commit c47d4e2903
8 changed files with 261 additions and 64 deletions
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15
software/ros_packages/rover_main/launch/ground_station/topic_transport_receivers.launch
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@@ -12,16 +12,25 @@
<param name="port" value="17003" />
</node>
<node name="chassis_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<node name="end_effector_640x360" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17004" />
</node>
<node name="undercarriage_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<node name="chassis_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17005" />
</node>
<node name="main_navigation_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<node name="undercarriage_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17006" />
</node>
<node name="main_navigation_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17007" />
</node>
<node name="end_effector_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17008" />
</node>
</group>
</launch>

6
software/ros_packages/rover_main/launch/rover/cameras.launch
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@@ -14,5 +14,11 @@
<node name="chassis" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 3" respawn="true" output="screen" >
<param name="device_path" value="/dev/rover/camera_chassis" />
</node>
<!-- Start End Effector Camera -->
<node name="end_effector" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 4" respawn="true" output="screen" >
<param name="is_rtsp_camera" value="True" />
<param name="device_path" value="rtsp://192.168.1.11" />
</node>
</group>
</launch>

22
software/ros_packages/rover_main/launch/rover/topic_transport_senders.launch
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@@ -26,9 +26,17 @@
</rosparam>
</node>
<node name="chassis_256x144" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<node name="end_effector_640x360" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17004" />
<rosparam param="topics">
[{name: "/cameras/end_effector/image_640x360/compressed", compress: false, rate: 30.0}]
</rosparam>
</node>
<node name="chassis_256x144" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17005" />
<rosparam param="topics">
[{name: "/cameras/chassis/image_256x144/compressed", compress: false, rate: 30.0}]
</rosparam>
@@ -36,7 +44,7 @@
<node name="undercarriage_256x144" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17005" />
<param name="destination_port" value="17006" />
<rosparam param="topics">
[{name: "/cameras/undercarriage/image_256x144/compressed", compress: false, rate: 30.0}]
</rosparam>
@@ -44,10 +52,18 @@
<node name="main_navigation_256x144" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17006" />
<param name="destination_port" value="17007" />
<rosparam param="topics">
[{name: "/cameras/main_navigation/image_256x144/compressed", compress: false, rate: 30.0}]
</rosparam>
</node>
<node name="end_effector_256x144" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17008" />
<rosparam param="topics">
[{name: "/cameras/end_effector/image_256x144/compressed", compress: false, rate: 30.0}]
</rosparam>
</node>
</group>
</launch>