camera_drivers: prosilica_camera prosilica_gige_sdk wge100_camera wge100_camera_firmware

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Basler, IDS and AVT-Prosilica ASCOM drivers - posted in Major & Minor Planetary Imaging: Hi guys, we just released ASCOM drivers for Basler, IDS uEye and AVT-Prosilica cameras. I have attached a patch on Ticket #5407 for prosilicadriver that lets me use these cameras fairly well. Thomas D ( 2012-03-24 09:08:02 -0600 ) edit add a comment. Prosilicadriver Contains the ROS driver and the SDK for AVT/Prosilica cameras. This code was originally developed by Willow Garage and has been edited by Allison Thackston This software is released under a BSD license. The title of this display is GigE Camera, which is the name Prosilica gives the particular camera we are using (GC1380H). Select Prosilica Drivers and open Prosilica #1 general to get the ADBase.adl file, labeled 'Area Detector Control - X17B2PS1:cam1:'; displayed, as below. I have attached a patch on Ticket #5407 for prosilicadriver that lets me use these cameras fairly well. Thomas D ( 2012-03-24 09:08:02 -0600 ) edit add a comment.

Dependencies (12)
Used by (9)

Package Summary

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

Contents

  1. Nodes
    1. prosilica_node
  2. Command-line tools

Overview

This package contains a ROS driver node for Prosilica gigabit Ethernet cameras. It is built on top of the Prosilica GigE SDK.

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.

This page and the tutorials cover expected use of this package. Features of interest to advanced users only are documented here.

For basic vision processing of camera images, see the image_pipeline.

Nodes

prosilica_node

ROS 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.

Published Topics

Streaming mode
camera/image_raw (sensor_msgs/Image)
  • The raw image topic.
camera/camera_info (sensor_msgs/CameraInfo)
  • Calibration info for each image.
Polled mode
There may be multiple clients, each with their own response_namespace. These topics are only published in response to the request_image service. <response_namespace>/image_raw (sensor_msgs/Image)
  • The polled image topic for a particular client.
<response_namespace>/camera_info (sensor_msgs/CameraInfo)
  • The corresponding camera state.
Golf

Services

set_camera_info (sensor_msgs/SetCameraInfo)
  • Sets the calibration parameters stored internally on the camera.
Polled mode
request_image (polled_camera/GetPolledImage)
  • Captures an image and publishes it in the namespace specified by the request message. Returns the timestamp.

Parameters

Camera selection
If ~ip_address is set, the node opens the camera at that IP. If only Drivers prosilica taylormade~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_addressDrivers Prosilica (string)
  • IP address of the camera to open.
~guid (string)
  • Unique ID of the camera to open.
Dynamically Reconfigurable Parameters
See the dynamic_reconfigure package for details on dynamically reconfigurable parameters. ~trigger_mode (string, default: 'streaming')
  • 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.
~auto_exposure (bool, default: True)
  • If set, the camera determines the exposure duration automatically. Causes the ~exposure setting to be ignored.
~exposure (double, default: 0.015)
  • Exposure time in seconds.
~auto_gain (bool, default: True)
  • If set, the camera determines the analog gain automatically. Causes the ~gain setting to be ignored.
~gain (int, default: 0)
  • The gain level in dB.
~auto_whitebalance (bool, default: True)
  • If set, the whitebalance will continuously adjust to the current scene. Causes the ~whitebalance_red and ~whitebalance_blue settings to be ignored.
~whitebalance_red (int, default: 0)
  • Red gain as a percentage of the camera default setting.
~whitebalance_blueProsilica (int, default: 0)
  • Blue gain as a percentage of the camera default setting.
~frame_id (string, default: 'camera')
  • The optical camera TF frame set in message headers.

Command-line tools

set_ip

Drivers Prosilica Taylormade

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).

Usage:

Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.
Description: This tutorial will show you how to determine the prosilica camera's IP address if you do not remember it.
Keywords: Prosilica, IP, camera
Tutorial Level: BEGINNER

Drivers Prosilica 64

Next Tutorial:Configuring the Prosilica gigE for a desktop

Drivers Prosilica License Test

Contents

Compiling

Start by getting the dependencies and compiling the driver.

Powered On and Plugged in

Make sure that your Prosilica camera is powered at 12V, connected to your computer, and the green and orange network lights are lit.

Making Sure the Network is Configured for IPv4 Networking

Before you can find a camera on the network, the network adapter to which the camera is connected must be configured for IPv4 networking. In many cases this will be done already, so try skipping to the next section of this tutorial, and come back here if the discover command can't find your camera.

Configuring a network adapter is beyond the scope of this tutorial. The following tips may allow you to get started, but may get you in trouble with your network administrator. Moreover, the setup you get by following these tips will not persist when the computer is rebooted.

To check that an adapter is configured for IPv4 networking, use the ifconfig command. For example if your camera is connected to eth0, do:

In this case, the camera has an inet6 addr, but no inet addr, so it is not configured for IPv4 networking.

We can give the adapter an IPv4 address with the following command (this address probably won't get you in trouble):

Drivers Prosilica Test

Now we can check that the computer does indeed have an inet addr:

Capturing the IP address

Run:

Drivers Prosilica Drivers

where ethx is the interface the camera is connected to. This will be listening for traffic and return the IP address of our camera.

Drivers Prosilica Golf Clubs

In another window run:

The tcpdump command will output a line similar to this one:

The address of the camera is 10.68.0.20. (Note that ListCameras will probably not see the camera.)

You can now configure the network interface (or an alias) in such a way that the camera is on the same subnet, and you can set the camera's IP address as described in the configuring the Prosilica gigE for a desktop tutorial.

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