API preview

Proposer: Blaise

Present at review:

• Eric
• James
• Jeremy
• Patrick
• Rob

Conclusion

• WGE100 cameras will publish to two separate topics depending on whether the texture projector was on or off during exposure.
• A service will be used to set the projector mode:
  • On, off or auto.
  • Base frequency
  • Blank for prosilica or not
• A service call will be used to set each camera's mode:
  • Texture, no texture or alternating
• When the projector is on, it will output two pulses per base frame period. One pulse per period will alternate its time to support the alternating texture mode.