Blackfly

clearpath_sensors/config/flir_blackfly.yaml

@@ -0,0 +1,32 @@
+flir_blackfly:
+ ros__parameters:
+ serial_number: ''
+ debug: false
+ compute_brightness: false
+ adjust_timestamp: true
+ dump_node_map: false
+ gain_auto: Continuous
+ pixel_format: BayerRG8
+ exposure_auto: Continuous
+ # These are useful for GigE cameras
+ # device_link_throughput_limit: 380000000
+ # gev_scps_packet_size: 9000
+ # ---- to reduce the sensor width and shift the crop
+ # image_width: 1408
+ # image_height: 1080
+ # offset_x: 16
+ # offset_y: 0
+ frame_rate_auto: Off
+ frame_rate: 40.0
+ frame_rate_enable: true
+ buffer_queue_size: 1
+ trigger_mode: Off
+ chunk_mode_active: true
+ chunk_selector_frame_id: FrameID
+ chunk_enable_frame_id: true
+ chunk_selector_exposure_time: ExposureTime
+ chunk_enable_exposure_time: true
+ chunk_selector_gain: Gain
+ chunk_enable_gain: true
+ chunk_selector_timestamp: Timestamp
+ chunk_enable_timestamp: true

clearpath_sensors/launch/flir_blackfly.launch.py

@@ -0,0 +1,93 @@
+# Software License Agreement (BSD)
+#
+# @author Roni Kreinin <[email protected]>
+# @copyright (c) 2023, Clearpath Robotics, Inc., All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+# * Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+# * Neither the name of Clearpath Robotics nor the names of its contributors
+# may be used to endorse or promote products derived from this software
+# without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+ parameters = LaunchConfiguration('parameters')
+ namespace = LaunchConfiguration('namespace')
+ param_mapping_file = LaunchConfiguration('param_mapping_file')
+
+ arg_parameters = DeclareLaunchArgument(
+ 'parameters',
+ default_value=PathJoinSubstitution([
+ FindPackageShare('clearpath_sensors'),
+ 'config',
+ 'flir_blackfly.yaml'
+ ]))
+
+ arg_param_mapping_file = DeclareLaunchArgument(
+ 'param_mapping_file',
+ default_value=PathJoinSubstitution([
+ FindPackageShare('spinnaker_camera_driver'), 'config',
+ 'blackfly_s.yaml'
+ ]))
+
+ arg_namespace = DeclareLaunchArgument(
+ 'namespace',
+ default_value='platform/sensors/camera_0')
+
+ blackfly_camera_node = Node(
+ package='spinnaker_camera_driver',
+ namespace=namespace,
+ name='flir_blackfly',
+ executable='camera_driver_node',
+ parameters=[parameters, {'parameter_file': param_mapping_file,}],
+ output='screen',
+ remappings=[
+ ('flir_blackfly/camera_info', 'color/camera_info'),
+ ('flir_blackfly/control', 'control'),
+ ('flir_blackfly/image_raw', 'image_raw'),
+ ('flir_blackfly/meta', 'meta'),
+ ]
+ )
+
+ debayer_node = Node(
+ package='image_proc',
+ namespace=namespace,
+ name='debayer_node',
+ executable='image_proc',
+ output='screen',
+ remappings=[
+ ('image_color', 'color/image'),
+ ('image_mono', 'mono/image'),
+ ]
+ )
+
+ ld = LaunchDescription()
+ ld.add_action(arg_parameters)
+ ld.add_action(arg_param_mapping_file)
+ ld.add_action(arg_namespace)
+ ld.add_action(blackfly_camera_node)
+ ld.add_action(debayer_node)
+ return ld

clearpath_sensors/package.xml

@@ -15,9 +15,13 @@
 
  <buildtool_depend>ament_cmake</buildtool_depend>
 
+ <exec_depend>flir_camera_description</exec_depend>
+ <exec_depend>flir_camera_msgs</exec_depend>
+ <exec_depend>image_proc</exec_depend>
  <exec_depend>microstrain_inertial_driver</exec_depend>
  <exec_depend>nmea_navsat_driver</exec_depend>
  <exec_depend>realsense2_camera</exec_depend>
+ <exec_depend>spinnaker_camera_driver</exec_depend>
  <exec_depend>umx_driver</exec_depend>
  <exec_depend>urg_node</exec_depend>
  <exec_depend>velodyne_driver</exec_depend>