esp32-camera

NOTICE

@@ -28,3 +28,6 @@ eProsima
 Robert Bosch GmbH
     Ralph Lange <[email protected]>
     Raphael Vogelgsang <[email protected]>
+
+Dor Ben Harush 
+    Dor Ben Harush <[email protected]>

apps/take_picture/app-colcon.meta

@@ -0,0 +1,14 @@
+{
+    "names": {
+        "rmw_microxrcedds": {
+            "cmake-args": [
+                "-DRMW_UXRCE_MAX_NODES=1",
+                "-DRMW_UXRCE_MAX_PUBLISHERS=1",
+                "-DRMW_UXRCE_MAX_SUBSCRIPTIONS=0",
+                "-DRMW_UXRCE_MAX_SERVICES=0",
+                "-DRMW_UXRCE_MAX_CLIENTS=0",
+                "-DRMW_UXRCE_MAX_HISTORY=1",
+            ]
+        }
+    }
+}

apps/take_picture/app.c

@@ -0,0 +1,197 @@
+/**
+ * This example takes a picture every 5s.
+   Example src: https://github.com/espressif/esp32-camera.git 
+ */
+
+#define BOARD_WROVER_KIT
+#define BOARD_ESP32CAM_AITHINKER
+
+
+// ================================ CODE ======================================
+
+#include <esp_event_loop.h>
+#include <esp_log.h>
+#include <esp_system.h>
+#include <nvs_flash.h>
+#include <sys/param.h>
+#include <string.h>
+
+#include <stdio.h>
+#include <unistd.h>
+
+#include <rcl/rcl.h>
+#include <rcl/error_handling.h>
+#include <std_msgs/msg/int32.h>
+
+#include <rclc/rclc.h>
+#include <rclc/executor.h>
+
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+
+#include "esp_camera.h"
+
+// WROVER-KIT PIN Map
+#ifdef BOARD_WROVER_KIT
+
+#define CAM_PIN_PWDN -1  //power down is not used
+#define CAM_PIN_RESET -1 //software reset will be performed
+#define CAM_PIN_XCLK 21
+#define CAM_PIN_SIOD 26
+#define CAM_PIN_SIOC 27
+
+#define CAM_PIN_D7 35
+#define CAM_PIN_D6 34
+#define CAM_PIN_D5 39
+#define CAM_PIN_D4 36
+#define CAM_PIN_D3 19
+#define CAM_PIN_D2 18
+#define CAM_PIN_D1 5
+#define CAM_PIN_D0 4
+#define CAM_PIN_VSYNC 25
+#define CAM_PIN_HREF 23
+#define CAM_PIN_PCLK 22
+
+#endif
+
+// ESP32Cam (AiThinker) PIN Map
+#ifdef BOARD_ESP32CAM_AITHINKER
+
+#define CAM_PIN_PWDN 32
+#define CAM_PIN_RESET -1 //software reset will be performed
+#define CAM_PIN_XCLK 0
+#define CAM_PIN_SIOD 26
+#define CAM_PIN_SIOC 27
+
+#define CAM_PIN_D7 35
+#define CAM_PIN_D6 34
+#define CAM_PIN_D5 39
+#define CAM_PIN_D4 36
+#define CAM_PIN_D3 21
+#define CAM_PIN_D2 19
+#define CAM_PIN_D1 18
+#define CAM_PIN_D0 5
+#define CAM_PIN_VSYNC 25
+#define CAM_PIN_HREF 23
+#define CAM_PIN_PCLK 22
+
+#endif
+
+static const char *TAG = "example:take_picture";
+
+
+#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){printf("Failed status on line %d: %d. Aborting.\n",__LINE__,(int)temp_rc);vTaskDelete(NULL);}}
+#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){printf("Failed status on line %d: %d. Continuing.\n",__LINE__,(int)temp_rc);}}
+
+rcl_publisher_t publisher;
+std_msgs__msg__Int32 msg;
+camera_fb_t *pic;
+
+void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
+{
+	UNUSED(last_call_time);
+	if (timer != NULL) {
+		RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
+		// use pic->buf to access the image
+		msg.data = pic->len;
+	}
+}
+
+
+static camera_config_t camera_config = {
+    .pin_pwdn = CAM_PIN_PWDN,
+    .pin_reset = CAM_PIN_RESET,
+    .pin_xclk = CAM_PIN_XCLK,
+    .pin_sscb_sda = CAM_PIN_SIOD,
+    .pin_sscb_scl = CAM_PIN_SIOC,
+
+    .pin_d7 = CAM_PIN_D7,
+    .pin_d6 = CAM_PIN_D6,
+    .pin_d5 = CAM_PIN_D5,
+    .pin_d4 = CAM_PIN_D4,
+    .pin_d3 = CAM_PIN_D3,
+    .pin_d2 = CAM_PIN_D2,
+    .pin_d1 = CAM_PIN_D1,
+    .pin_d0 = CAM_PIN_D0,
+    .pin_vsync = CAM_PIN_VSYNC,
+    .pin_href = CAM_PIN_HREF,
+    .pin_pclk = CAM_PIN_PCLK,
+
+    //XCLK 20MHz or 10MHz for OV2640 double FPS (Experimental)
+    .xclk_freq_hz = 20000000,
+    .ledc_timer = LEDC_TIMER_0,
+    .ledc_channel = LEDC_CHANNEL_0,
+
+    .pixel_format = PIXFORMAT_JPEG, //YUV422,GRAYSCALE,RGB565,JPEG
+    .frame_size = FRAMESIZE_VGA,    //QQVGA-UXGA Do not use sizes above QVGA when not JPEG
+
+    .jpeg_quality = 12, //0-63 lower number means higher quality
+    .fb_count = 1       //if more than one, i2s runs in continuous mode. Use only with JPEG
+};
+
+static esp_err_t init_camera()
+{
+    //initialize the camera
+    esp_err_t err = esp_camera_init(&camera_config);
+    if (err != ESP_OK)
+    {
+        ESP_LOGE(TAG, "Camera Init Failed");
+        return err;
+    }
+
+    return ESP_OK;
+}
+
+void appMain(void * arg)
+{
+    init_camera();
+    rcl_allocator_t allocator = rcl_get_default_allocator();
+	rclc_support_t support;
+
+	// create init_options
+	RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));
+
+	// create node
+	rcl_node_t node = rcl_get_zero_initialized_node();
+	RCCHECK(rclc_node_init_default(&node, "freertos_pictureSize_publisher", "", &support));
+
+	// create publisher
+	RCCHECK(rclc_publisher_init_default(
+		&publisher,
+		&node,
+		ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
+		"freertos_pictureSize_publisher"));
+
+	// create timer,
+	rcl_timer_t timer = rcl_get_zero_initialized_timer();
+	const unsigned int timer_timeout = 1000;
+	RCCHECK(rclc_timer_init_default(
+		&timer,
+		&support,
+		RCL_MS_TO_NS(timer_timeout),
+		timer_callback));
+
+	// create executor
+	rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
+	RCCHECK(rclc_executor_init(&executor, &support.context, 1, &allocator));
+
+	unsigned int rcl_wait_timeout = 1000;   // in ms
+	RCCHECK(rclc_executor_set_timeout(&executor, RCL_MS_TO_NS(rcl_wait_timeout)));
+	RCCHECK(rclc_executor_add_timer(&executor, &timer));
+
+	msg.data = 0;
+
+	while(1){
+		rclc_executor_spin_some(&executor, 100);
+		usleep(100000);
+		//takes picture
+        	pic = esp_camera_fb_get();
+       		vTaskDelay(5000 / portTICK_RATE_MS);
+	}
+
+    // free resources
+	RCCHECK(rcl_publisher_fini(&publisher, &node))
+	RCCHECK(rcl_node_fini(&node))
+        vTaskDelete(NULL);
+}

microros_esp32_extensions/main/Kconfig.projbuild

@@ -54,3 +54,68 @@ menu "WiFi Configuration"
 endmenu
 
 endmenu
+menu "Camera configuration"
+
+config OV2640_SUPPORT
+	bool "OV2640 Support"
+	default y
+	help
+		Enable this option if you want to use the OV2640.
+		Disable this option to save memory.
+
+config OV7725_SUPPORT
+	bool "OV7725 Support"
+	default n
+	help
+		Enable this option if you want to use the OV7725.
+		Disable this option to save memory.
+
+config OV3660_SUPPORT
+    bool "OV3660 Support"
+    default y
+    help
+        Enable this option if you want to use the OV3360.
+        Disable this option to save memory.
+
+config OV5640_SUPPORT
+    bool "OV5640 Support"
+    default y
+    help
+        Enable this option if you want to use the OV5640.
+        Disable this option to save memory.
+
+config SCCB_HARDWARE_I2C
+    bool "Use hardware I2C for SCCB"
+    default y
+    help
+        Enable this option if you want to use hardware I2C to control the camera.
+        Disable this option to use software I2C.
+
+choice SCCB_HARDWARE_I2C_PORT
+    bool "I2C peripheral to use for SCCB"
+    depends on SCCB_HARDWARE_I2C
+    default SCCB_HARDWARE_I2C_PORT1
+
+    config SCCB_HARDWARE_I2C_PORT0
+        bool "I2C0"
+    config SCCB_HARDWARE_I2C_PORT1
+        bool "I2C1"
+
+endchoice
+
+choice CAMERA_TASK_PINNED_TO_CORE
+    bool "Camera task pinned to core"
+    default CAMERA_CORE0
+    help
+        Pin the camera handle task to a certain core(0/1). It can also be done automatically choosing NO_AFFINITY.
+
+    config CAMERA_CORE0
+        bool "CORE0"
+    config CAMERA_CORE1
+        bool "CORE1"
+    config CAMERA_NO_AFFINITY
+        bool "NO_AFFINITY"
+
+endchoice
+
+endmenu

microros_esp32_extensions/sdkconfig.defaults

@@ -1,3 +1,4 @@
 CONFIG_ESP_MAIN_TASK_STACK_SIZE=3000
 CONFIG_FREERTOS_UNICORE=y
 CONFIG_ESP_TASK_WDT=n
+CONFIG_ESP32_SPIRAM_SUPPORT=y