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Add launch parameter to disable auto firmware update #61

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Nov 10, 2021
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Add launch parameter to disable auto firmware update #61

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67a175b
Readme: Add example of setting launch parameter via roslaunch
apartridge Nov 8, 2021
abacf6e
Add launch parameter to disable automatic camera firmware update
apartridge Nov 8, 2021
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24 changes: 21 additions & 3 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -191,13 +191,23 @@ ROS_NAMESPACE=zivid_camera rosrun nodelet nodelet standalone zivid_camera/nodele
The following parameters can be specified when starting the driver. Note that all the parameters are
optional, and typically not required to set.

For example, to launch the driver with `frame_id` specified, append `_frame_id:=camera1` to the
rosrun command:
For example, to run the zivid_camera driver with `frame_id` specified, append `_frame_id:=camera1` to the
`rosrun` command:

```bash
ROS_NAMESPACE=zivid_camera rosrun zivid_camera zivid_camera_node _frame_id:=camera1
```

Or, if using `roslaunch` specify the parameter using `<param>`:

```xml
<launch>
<node name="zivid_camera" pkg="zivid_camera" type="zivid_camera_node" ns="zivid_camera" output="screen">
<param type="string" name="frame_id" value="camera_1" />
</node>
</launch>
Comment on lines +201 to +208
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Nice to add the example of launching the zivid_camera node with parameters.

I think it would be nice to add the available launch parameters to the sample.launch file also, since it's most convenient to run the zivid_camera node (and the application code) from launch files. It would be nice to include the available options to the sample.launch file then.

zivid-ros/zivid_samples/launch/sample.launch

Line 4 in 1371fe9

<node name="zivid_camera" pkg="zivid_camera" type="zivid_camera_node" ns="zivid_camera" output="screen"/>

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Maybe something like this:

<arg name="frame_id" default="zivid_optical_frame"/>
<node name="zivid_camera" pkg="zivid_camera" type="zivid_camera_node" ns="zivid_camera" output="screen">
    <param type="string" name="frame_id" value="$(arg frame_id)"/>
</node>

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Then we can add most/all available options, like serial_number and update_firmware_automatically, to that sample launch file.

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Alternatively add a new zivid_camera launch file under https://github.com/zivid/zivid-ros/tree/master/zivid_camera/launch, and that launch file in the sample launch file.

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Yes, might be a good idea to add a launch file with all the parameters. Here I just wanted to add an example of how to set it for a .launch file yourself. The disadvantage of having all of them in the launch file is that we duplicate the default value, I suppose. We already have an existing request for this: #34, so I think we should not solve it now as part of this PR.

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Ah, sorry didn't go through the current list of issues. #34 explains very well what I meant.
Sure, it's fine for me not to update it as part of this PR.

If it's fine by you, I could make a follow-up PR for #34. I missed this when I was using the driver for internal usage.

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Feel free to make a PR for this @runenordmo

```

`file_camera_path` (string, default: "")
> Specify the path to a file camera to use instead of a real Zivid camera. This can be used to
> develop without access to hardware. The file camera returns the same point cloud for every capture.
Expand All @@ -219,6 +229,13 @@ ROS_NAMESPACE=zivid_camera rosrun zivid_camera zivid_camera_node _frame_id:=came
> the command line or rosparam the serial number must be prefixed with a colon (`:12345`).
> This parameter is optional. By default the driver will connect to the first available camera.

`update_firmware_automatically` (bool, default: true)
> Specify if the firmware of the connected camera should be automatically updated to the correct
> version when the Zivid ROS driver starts. If set to false, if the firmware version is out of date
> then camera must be manually updated, for example using Zivid Studio or `ZividFirmwareUpdater`.
> Read more about [firmware update in our knowledgebase][firmware-update-kb-url].
> This parameter is optional, and by default it is true.

## Services

### capture_assistant/suggest_settings
Expand Down Expand Up @@ -640,4 +657,5 @@ grant agreement No 732287. For more information, visit [rosin-project.eu](http:/
[zivid-knowledge-base-url]: https://support.zivid.com
[zivid-software-installation-url]: https://support.zivid.com/latest/getting-started/software-installation.html
[install-opencl-drivers-ubuntu-url]: https://support.zivid.com/latest/getting-started/software-installation/gpu/install-opencl-drivers-ubuntu.html
[hdr-getting-good-point-clouds-url]: https://support.zivid.com/latest/academy/camera/capturing-high-quality-point-clouds/getting-the-right-exposure-for-good-point-clouds.html
[hdr-getting-good-point-clouds-url]: https://support.zivid.com/latest/academy/camera/capturing-high-quality-point-clouds/getting-the-right-exposure-for-good-point-clouds.html
[firmware-update-kb-url]: https://support.zivid.com/latest/academy/camera/firmware-update.html
23 changes: 18 additions & 5 deletions zivid_camera/src/zivid_camera.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -137,6 +137,9 @@ ZividCamera::ZividCamera(ros::NodeHandle& nh, ros::NodeHandle& priv)
priv_.param<bool>("use_latched_publisher_for_snr_image", use_latched_publisher_for_snr_image_, false);
priv_.param<bool>("use_latched_publisher_for_normals_xyz", use_latched_publisher_for_normals_xyz_, false);

bool update_firmware_automatically = true;
priv_.param<bool>("update_firmware_automatically", update_firmware_automatically, update_firmware_automatically);

if (file_camera_mode)
{
ROS_INFO("Creating file camera from file '%s'", file_camera_path.c_str());
Expand Down Expand Up @@ -181,11 +184,21 @@ ZividCamera::ZividCamera(ros::NodeHandle& nh, ros::NodeHandle& priv)

if (!Zivid::Firmware::isUpToDate(camera_))
{
ROS_INFO("The camera firmware is not up-to-date, starting update");
Zivid::Firmware::update(camera_, [](double progress, const std::string& state) {
ROS_INFO(" [%.0f%%] %s", progress, state.c_str());
});
ROS_INFO("Firmware update completed");
if (update_firmware_automatically)
{
ROS_INFO("The camera firmware is not up-to-date, and update_firmware_automatically is true, starting update");
Zivid::Firmware::update(camera_, [](double progress, const std::string& state) {
ROS_INFO(" [%.0f%%] %s", progress, state.c_str());
});
ROS_INFO("Firmware update completed");
}
else
{
ROS_ERROR("The camera firmware is not up-to-date, and update_firmware_automatically is false. Throwing error.");
throw std::runtime_error("The firmware on camera '" + camera_.info().serialNumber().value() +
"' is not up to date. The launch parameter update_firmware_automatically "
"is set to false. Please update the firmware on this camera manually.");
}
}
}

Expand Down