Modified from https://github.com/dji-sdk/Onboard-SDK-ROS/tree/3.3 According to https://github.com/dji-sdk/Onboard-SDK/tree/3.3
| Aircraft/FC | Firmware Package Version | Flight Controller Version | OSDK Branch | Notes |
|---|---|---|---|---|
| A3/A3 Pro | 1.7.1.5 | 3.2.36.8 | OSDK 3.3 | |
| 1.7.0.5 | 3.2.15.50 | OSDK 3.2 | ||
| 1.7.0.0 | 3.2.15.37 | OSDK 3.2 | ||
| N3 | 1.7.1.5 | 3.2.36.8 | OSDK 3.3 (Current) | |
| 1.7.0.0 | 3.2.15.37 | OSDK 3.2 |
Enter the catkin work space
cd YOUR_ROS_WORKSPACE/src
git clone https://github.com/gaowenliang/ptgrey_reader.git
cd YOUR_ROS_WORKSPACE/src/ptgrey_reader/install/usb/
tar jxvf libusb-1.0.21.tar.bz2
cd libusb-1.0.21/
Follow the INSTALL file to make and install the libusb library:
./configure
make
sudo make install
The driver supports the computer with Intel CPUs and NVIDIA TX2.
- For computer with Intel CPU:
cd YOUR_ROS_WORKSPACE/src/ptgrey_reader/install/amd64/
tar zxvf flycapture2-2.11.3.121-amd64-pkg.tgz
cd flycapture2-2.11.3.121-amd64/
- For TX2:
cd YOUR_ROS_WORKSPACE/src/ptgrey_reader/install/arm64/
tar zxvf flycapture.2.11.3.121_arm64.tar.gz
cd flycapture.2.11.3.121_arm64/
Follow the README file. Install requirements:
sudo apt-get install libraw1394-11 libgtkmm-2.4-dev libglademm-2.4-dev libgtkglextmm-x11-1.2-dev libusb-1.0-0 -y
Install Flycapture2 driver library:
sudo sh install_flycapture.sh
Build the package:
cd YOUR_ROS_WORKSPACE/
catkin_make
Before using that you may need to give them enough authority
sudo gedit cd /etc/udev/rules.d/40-flir.rules
Change all the 0613 or 0664 to 777 in the "40-flir.rules" and save. Then restart the system.
Use rosrun the camera_list to see your camera ID number.
roscore
rosrun ptgrey_reader camera_list
The camera infomation will be shown in screen, such as:
FlyCapture2 library version: 2.11.3.425
Application build date: Jun 7 2018 23:22:29
Number of cameras detected: 1
========== CAMERA INFORMATION ============
Serial number | 17221110
Camera model | Chameleon3 CM3-U3-13Y3M
Camera vendor | Point Grey Research
Sensor | OnSemi PYTHON1300 (1/2" Mono CMOS)
Resolution | 1280x1024
Firmware version | 1.13.3.0
Firmware build time | Tue Nov 15 18:35:47 2016
Done! Press Enter to exit...
Copy the Serial number to launch file as device, and launch.
roslaunch ptgrey_reader single.launch
After launch the camera, there will be a ROS topic named /pg_YOU_SERIAL_NUM/image_raw, such as /pg_17221069/image_raw. The type is sensor_msgs/Image.
| Parameter | Detail | Default |
|---|---|---|
device |
Device Serial number | |
is_pub |
Publish ROS image message or not | true |
is_show |
Show the image in screen or not | false |
is_print |
Print the infomation on screen or not | true |
is_sync |
Use hardware trigger or not | false |
is_grey |
(for Color Sensor) Output Grey Scale image or not | false |
is_roi |
Use ROI and down sample not | false |
is_auto_shutter |
Auto shutter time or not | false |
shutter |
Shutter time | 0.0001 to 100.0 |
brightness |
Brightness | 5.0 |
exposure |
Exposure | 0.8 |
WB_red |
Write Balance red | 550 |
WB_Blue |
Write Balance blue | 810 |
gain |
Gain | 0.0 |
If is_grey is true, there will be a extra ROS tpoic named /pg_YOU_SERIAL_NUM/image_grey.
If is_roi is true, there will be a extra ROS tpoic named /pg_YOU_SERIAL_NUM/image.
The ROI and down sample with such two step rule:
- step1: crop ROI image
- step2: down sample, with
down_sample_scale<= 1.0
The Hardware trigger is to capture an image while the camera received a trigger signal. An extra trigger cable is required.
Buy the elements of the trigger cable in JST NSHR-09V-S and JST ASSHLSSHL28W51.
Set is_sync as true in the launch file. And make sure the rate is larger than the trigger signal frequency.
If progrem cannot run successfully, especially for muti-camera system and high FPS system, change the USB buffer before roslaunch the progrem:
sudo -S sh -c 'echo 2048 > /sys/module/usbcore/parameters/usbfs_memory_mb'
Ps: 2048Mb is not required. Any buffer size is OK.