forked from Hshine/RM_Vison
51 lines
1.4 KiB
Markdown
51 lines
1.4 KiB
Markdown
|
# ros2_mindvision_camera
|
|||
|
|
|
|||
|
|
ROS2 MindVision 相机包，提供了 MindVision 相机的 ROS API。
|
|||
|
|
|
|||
|
|
Only tested under Ubuntu 22.04 with ROS2 Humble
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
## 使用说明
|
|||
|
|
|
|||
|
|
### Build from source
|
|||
|
|
|
|||
|
|
#### Dependencies
|
|||
|
|
|
|||
|
|
- [Robot Operating System 2 (ROS2)](https://docs.ros.org/en/humble/) (middleware for robotics),
|
|||
|
|
|
|||
|
|
#### Building
|
|||
|
|
|
|||
|
|
To build from source, clone the latest version from this repository into your colcon workspace and compile the package using
|
|||
|
|
|
|||
|
|
mkdir -p ros_ws/src
|
|||
|
|
cd ros_ws/src
|
|||
|
|
git clone https://github.com/chenjunnn/ros2_mindvision_camera.git
|
|||
|
|
cd ..
|
|||
|
|
rosdep install --from-paths src --ignore-src -r -y
|
|||
|
|
colcon build --symlink-install --packages-up-to mindvision_camera
|
|||
|
|
|
|||
|
|
### 标定
|
|||
|
|
|
|||
|
|
标定教程可参考 https://navigation.ros.org/tutorials/docs/camera_calibration.html
|
|||
|
|
|
|||
|
|
参数意义请参考 http://wiki.ros.org/camera_calibration
|
|||
|
|
|
|||
|
|
标定后的相机参数会被存放在 `/tmp/calibrationdata.tar.gz`
|
|||
|
|
|
|||
|
|
### 启动相机节点
|
|||
|
|
|
|||
|
|
ros2 launch mindvision_camera mv_launch.py
|
|||
|
|
|
|||
|
|
支持的参数：
|
|||
|
|
|
|||
|
|
1. params_file： 相机参数文件的路径
|
|||
|
|
2. camera_info_url： 相机内参文件的路径
|
|||
|
|
3. use_sensor_data_qos： 相机 Publisher 是否使用 SensorDataQoS (default: `false`)
|
|||
|
|
|
|||
|
|
### 通过 rqt 动态调节相机参数
|
|||
|
|
|
|||
|
|
打开 rqt，在 Plugins 中添加 `Configuration -> Dynamic Reconfigure` 及 `Visualization -> Image View`
|
|||
|
|
|
|||
|
|
|