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ROS Software Maintainer: ROBOTIS

ROBOTIS e-Manual

• ROBOTIS e-Manual for ROBOTIS-OP3

ROS API

op3_camera_setting_tool

Subscribed Topics

op3_camera/set_param (op3_camera_setting_tool/V4lParameter)

• single parameter to set the usb camera

op3_camera/set_params (op3_camera_setting_tool/V4lParameters)

• multi parameters to set the usb camera

op3_camera/param_command (std_msgs/String)

• parameter setting command(save or reset)

Published Topics

op3_camera/camera_params (op3_camera_setting_tool/CameraParams)

• message about the current parameters of the usb camera

Services

op3_camera/set_camera_params (op3_camera_setting_tool/SetParameters)

• service to set the parameters to usb camera

op3_camera/get_camera_params (op3_camera_setting_tool/GetParameters)

• service to get the current parameters of usb camera

Parameters

~yaml_path (string, default: "")

• init parameters for usb camera

video_device (string, default: /dev/video0)

• device name of an usb camera for setting parameters

Dynamic reconfigure

• CameraParams.cfg

  #---------------------------- parameter for usb camera -------------------------------# 
  #           Name           , Type     , Reconfiguration level                         # 
  #                                           , Description     , Default , Min , Max   #
  #-------------------------------------------------------------------------------------#
  gen.add("brightness"       ,int_t     ,0    ,"Brightness"     ,128      ,0    ,255)
  gen.add("contrast"         ,int_t     ,0    ,"Contrast"       ,128      ,0    ,255)
  gen.add("saturation"       ,int_t     ,0    ,"Saturation"     ,128      ,0    ,255)
  gen.add("sharpness"        ,int_t     ,0    ,"Sharpness"      ,128      ,0    ,255)
  gen.add("gain"             ,int_t     ,0    ,"Gain"           ,0        ,0    ,255)
  gen.add("focus_auto"       ,bool_t    ,0    ,"Auto focus"     ,False) 
  gen.add("focus_absolute"   ,int_t     ,0    ,"Absolute Focus" ,-1       ,-1   ,255)
  exposure_auto_enum 
   = gen.enum([gen.const("auto"              ,int_t ,0 ,"Exposure Auto"),
               gen.const("manual"            ,int_t ,1 ,"Exposure Manual"),
               gen.const("shutter_priority"  ,int_t ,2 ,"Exposure : Shutter priority"),
               gen.const("aperture_priority" ,int_t ,3 ,"Exposure : Aperture priority")],
               "An enum to set size")
  gen.add("exposure_auto"    ,int_t    ,0    ,"Auto Exposure"   ,3        ,0    ,3    
      ,edit_method=exposure_auto_enum)
  gen.add("exposure_absolute"             
                             ,int_t    ,0    ,"Absolute Exposure"
                                                                ,80       ,0    ,255)
  gen.add("white_balance_temperature_auto"   
                             ,bool_t   ,0    ,"Auto White Balance"
                                                                ,True)       
  gen.add("white_balance_temperature"        
                             ,int_t    ,0    ,"White Balance Temperature"
                                                                ,4000     ,2000 ,6500)