turtlebot3_autorace: turtlebot3_autorace_camera | turtlebot3_autorace_control | turtlebot3_autorace_core | turtlebot3_autorace_detect

Package Summary

TurtleBot3 AutoRace ROS package that controls Raspberry Pi Camera, and process the image

ROS Software Maintainer: ROBOTIS

ROBOTIS e-Manual

ROS API

image_compensation

Subscribed Topics

camera/image_input/compressed (sensor_msgs/CompressedImage)
  • Topic contains a compressed image
camera/image_output (sensor_msgs/Image)
  • This Topic contains an uncompressed image (0, 0) is at top-left corner of image

Published Topics

camera/image_output/compressed (sensor_msgs/CompressedImage)
  • Topic contains a compressed image
camera/image_output (sensor_msgs/Image)
  • This Topic contains an uncompressed image (0, 0) is at top-left corner of image

Dynamic Reconfigure

  • ImageCompensationParams.cfg :

    #------------------------ parameter for image compensation ------------------------#
    gen.add("clip_hist_percent", double_t, 0, 
            "Percentage of Histogram Cut-Off", 1.0, 0.0, 10.0)

image_projection

Subscribed Topics

camera/image_input/compressed (sensor_msgs/CompressedImage)
  • Topic contains a compressed image
camera/image_output (sensor_msgs/Image)
  • This Topic contains an uncompressed image (0, 0) is at top-left corner of image

Published Topics

camera/image_output/compressed (sensor_msgs/CompressedImage)
  • Topic contains a compressed image
camera/image_output (sensor_msgs/Image)
  • This Topic contains an uncompressed image (0, 0) is at top-left corner of image

Dynamic Reconfigure

  • ImageProjectionParams.cfg :

    #-------------------------- parameter for image warping --------------------------# 
    gen.add("top_x",        int_t,      0,      "Top X Pos",        60,  0, 120)
    gen.add("top_y",        int_t,      0,      "Top Y Pos",        50,  0, 120)
    gen.add("bottom_x",     int_t,      0,      "Bottom X Pos",     140,  0, 320)
    gen.add("bottom_y",     int_t,      0,      "Bottom Y Pos",     120,  0, 320)

raspicam_node

This package is used raspicam.

Published Topics

camera_info (sensor_msgs/CameraInfo)
  • Topic that defines meta information for a camera
image/compressed (sensor_msgs/CompressedImage)
  • Topic contains a compressed image

Parameters

Refer to parameters for calibration with picamera. This package is provided parameters from .yaml files.

  •  camera.yaml                          # default configuration for camera
     compensation.yaml                    # parameters for image compensation
     projection.yaml                      # parameters for image warping
     camerav2_320x240_30fps.yaml          # default configuration for lense

Wiki: turtlebot3_autorace_camera (last edited 2018-04-04 08:16:52 by Gilbert)