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