amadeuszsz / phoxi_collector

ROS2 node for PhoXi camera and RGB camera data collection.

PHOXI_COLLECTOR

ROS2 node for PhoXi camera and RGB camera data collection.

Requirements

• PhoXi Camera ROS2
• Custom camera
• PCL (tested with 1.12)
• OpenCV (tested with 4.5.4)

Installation & building

sudo apt-get update && sudo apt-get install python3-vcstool
cd $HOME
mkdir -p phoxi_ws/src && cd phoxi_ws
git clone https://github.com/PPI-PUT/phoxi_camera_ros2 src/phoxi_camera_ros2
vcs import < default.repos
rosdep install --from-paths src --ignore-src -y
colcon build --symlink-install --packages-up-to phoxi_collector --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=On

Usage

1. Connect cameras.
2. Configure param file (phoxi_collector/param/defaults.param.yaml). Make sure the provided directory as save_dir already exists!
3. Run Phoxi and your camera nodes. Phoxi node must be configured as services server (trigger_mode: software).
4. Validate RGB camera topic - see remappings options in launch/phoxi_collector.launch.py.
5. Run phoxi_collector.

source install/setup.bash
ros2 launch phoxi_collector phoxi_collector.launch.py

Service call:

ros2 service call /phoxi_collector/phoxi_collector/collect_data std_srvs/srv/Empty "{}"

See output files in your directory (which was defined in .yaml file).