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Merge pull request #110 from neufieldrobotics/dev
This merge from dev to master add the following major changes: Add external triggering ROI settings for images Bring Travis CI to master Adding gain settings to code Bump up version to 1.1.0 Number of little improvements and bug fixes.
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,39 @@ | ||
| language: minimal | ||
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| services: | ||
| - docker | ||
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| matrix: | ||
| include: | ||
| - arch: amd64 | ||
| env : DOCKER_IMAGE=ros:melodic-perception-bionic SPINNAKER_VERSION=2.0.0.147 | ||
| - arch: amd64 | ||
| env : DOCKER_IMAGE=ros:kinetic-perception-xenial SPINNAKER_VERSION=2.0.0.147 | ||
| - arch: amd64 | ||
| env : DOCKER_IMAGE=ros:melodic-perception-bionic SPINNAKER_VERSION=2.2.0.48 | ||
| - arch: amd64 | ||
| env : DOCKER_IMAGE=ros:kinetic-perception-xenial SPINNAKER_VERSION=1.24.0.60 | ||
| - arch: amd64 | ||
| env : DOCKER_IMAGE=ros:melodic-perception-bionic SPINNAKER_VERSION=1.24.0.60 | ||
| - arch: arm64 | ||
| env : DOCKER_IMAGE=arm64v8/ros:kinetic-perception-xenial SPINNAKER_VERSION=2.0.0.147 | ||
| - arch: arm64 | ||
| env : DOCKER_IMAGE=arm64v8/ros:melodic-perception-bionic SPINNAKER_VERSION=2.0.0.147 | ||
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| before_install: | ||
| - docker pull $DOCKER_IMAGE | ||
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| script: | ||
| - echo TRAVIS_BUILD_DIR is $TRAVIS_BUILD_DIR | ||
| - > | ||
| docker run | ||
| -v $TRAVIS_BUILD_DIR:/ros_ws/src/spinnaker_sdk_camera_driver/ | ||
| --env SPINNAKER_VERSION=$SPINNAKER_VERSION | ||
| --env SPINNAKER_LINUX_ARCH=$TRAVIS_CPU_ARCH | ||
| $DOCKER_IMAGE | ||
| /bin/bash -c | ||
| " | ||
| /ros_ws/src/spinnaker_sdk_camera_driver/download_and_install_spinnaker.sh; | ||
| cd /ros_ws; | ||
| catkin_make | ||
| " |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,5 +1,5 @@ | ||
| # Set the default ros output to warning and higher | ||
| log4j.logger.ros=INFO | ||
| log4j.logger.ros.datacollection_neu=DEBUG | ||
| log4j.logger.ros.spinnaker_sdk_camera_driver=DEBUG | ||
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,30 @@ | ||
| #!/usr/bin/env bash | ||
| set -x | ||
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| CWD=`pwd` | ||
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| export DEBIAN_FRONTEND=noninteractive | ||
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| # install basic packages | ||
| apt-get update | ||
| apt-get install -q -y --no-install-recommends \ | ||
| build-essential tree wget dirmngr gnupg2 vim nano git debconf-utils libunwind-dev iputils-ping dialog apt-utils | ||
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| wget https://coe.northeastern.edu/fieldrobotics/spinnaker_sdk_archive/spinnaker-$SPINNAKER_VERSION-$SPINNAKER_LINUX_ARCH-pkg.tar.gz -nv | ||
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| tar -zxvf spinnaker-$SPINNAKER_VERSION-$SPINNAKER_LINUX_ARCH-pkg.tar.gz | ||
| cd spinnaker-$SPINNAKER_VERSION-$SPINNAKER_LINUX_ARCH | ||
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| # fix issue with 'logname' command on docker, required by spinnaker 2.2.0.48 | ||
| mv /usr/bin/logname /usr/bin/logname_old | ||
| echo "echo root" > /usr/bin/logname | ||
| chmod +x /usr/bin/logname | ||
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| # auto accept spinnaker license agreements | ||
| echo libspinnaker libspinnaker/present-flir-eula note '' | debconf-set-selections | ||
| echo libspinnaker libspinnaker/accepted-flir-eula boolean true | debconf-set-selections | ||
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| dpkg -i *.deb | ||
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| cd .. | ||
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,57 @@ | ||
| // | ||
| // Created by pushyami on 1/15/19. | ||
| // | ||
| //cpp | ||
| #include <iostream> | ||
| // ROS | ||
| #include <ros/ros.h> | ||
| #include <image_transport/image_transport.h> | ||
| //#include <cv_bridge/cv_bridge.h> | ||
| // msgs | ||
| #include "sensor_msgs/Image.h" | ||
| //#include "sensor_msgs/CameraInfo.h" | ||
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| // nodelets | ||
| #include <nodelet/nodelet.h> | ||
| #include <pluginlib/class_list_macros.h> | ||
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| namespace subscriber_nodelet_ns | ||
| { | ||
| class subscriber_nodelet: public nodelet::Nodelet | ||
| { | ||
| //This is a test nodelet for measuring nodelet performance | ||
| public: | ||
| subscriber_nodelet(){} | ||
| ~subscriber_nodelet() | ||
| { | ||
| it_.reset(); | ||
| } | ||
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| std::shared_ptr<image_transport::ImageTransport> it_; | ||
| image_transport::Subscriber image_sub_; | ||
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| virtual void onInit() | ||
| { | ||
| NODELET_INFO("Initializing Subscriber nodelet"); | ||
| ros::NodeHandle& node = getNodeHandle(); | ||
| ros::NodeHandle& private_nh = getPrivateNodeHandle(); | ||
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| it_.reset(new image_transport::ImageTransport(node)); | ||
| image_sub_ = it_->subscribe("/camera_array/cam0/image_raw",1, &subscriber_nodelet::imgCallback, this); | ||
| NODELET_INFO("onInit for Subscriber nodelet Initialized"); | ||
| } | ||
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| void imgCallback(const sensor_msgs::Image::ConstPtr& msg) | ||
| { | ||
| // dont modify the input msg in any way | ||
| sensor_msgs::Image tmp_img = *msg; | ||
| NODELET_INFO_STREAM("diff time is "<< ros::Time::now().toSec() - tmp_img.header.stamp.toSec()); | ||
| // copy input img to cv::mat and do any cv stuff | ||
| // dont do time intense stuff in callbacks | ||
| } | ||
| }; | ||
| } | ||
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| PLUGINLIB_EXPORT_CLASS(subscriber_nodelet_ns::subscriber_nodelet, nodelet::Nodelet) |
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