rover_cameras¶
The nodes in the rover_cameras package are designed to manipulate rover camera streams. The launch files are what launch them
to get all the feeds actually running.
Nodes¶
image_rotater¶
The image_rotater node takes in one input stream and rotates it by a constant amount.
Topics¶
~image_rotater/image_in- image stream to rotate~image_rotater/image_out- published image stream
Parameters¶
angle- angle in degrees to rotate by
camera_diagnostics¶
The camera_diagnostics node monitors /dev/video paths and publishes diagnostic information for them.
Parameters¶
~expected_nums- video numbers to monitor
swapper.py¶
Runs and manages usb_cam nodes to deal with cameras with a ros api. Typically you use the cli to interact with it.
Launch files¶
The only launch file in rover_cameras starts the camera swapper.
CLI¶
Important
The cli for camera swapping requires you install the prompt_toolkit python package.
The cli (node name swapper_cli.py) allows you to interact with the swapper.
Each camera is just represented as a name and a video device, the node doesn’t actually store these things.
The CLI has built in help, (as well as autocomplete) but documentation is also provided here:
Commands¶
quit¶
Quits the CLI.
load¶
Two parameters, first is the camera name, next is the video device (/dev/videoN). Optionally takes a parameter, which is the
preffered device to unload if we cannot run this many cameras. Using this parameter allows you to quickly switch cameras.
`
> load belly_cam /dev/video0 head_cam
`
Swaps head_cam with belly_cam
unload¶
Unloads the camera (by name) given to it as a parameter.
list¶
Lists all running cameras by name.