|Note: Instructions for updating the firmware for WGE100 cameras on the PR2..|
|Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.|
Upgrading WGE100 Firmware on the PR2Description: Updating and verifying the firmware for all WGE100 cameras on the PR2.
Tutorial Level: ADVANCED
Before Starting FW Update
Updating the camera firmware on the PR2 requires five steps:
Make sure you have a recent version of the camera_drivers stack.
- Stop all ROS programs on the PR2.
- Upload the firmware
Versions of camera_drivers above 1.3.1 or above 1.2.7 (cturtle) should have WGE100 firmware with improved robustness and error checking. Check your version of camera_drivers with:
$ rosversion camera_drivers
Before the release of camera_drivers to cturtle and/or unstable, you will have to download "trunk" of the camera_drivers stack for this upgrade.
Stop ROS Programs
If you don't stop all ROS programs before updating the camera firmware, your robot may not function properly.
sudo robot stop
to stop all software on the robot. This will shut down the wge100_camera nodes.
Check Firmware Version
The desired firmware version is:
HDL rev: 600 FW rev: 8C41
To check the firmware version in your camera_drivers stack, run:
$ cat `rospack find wge100_camera`/firmware_images/version.txt
A single script will update the camera firmware on your PR2:
$ roscd wge100_camera/firmware_images $ sudo bash # ./update_robot.sh
Do not abort during the firmware update.
Check that the firmware has been updated, and that all cameras are present:
After you restart your robot, the cameras should function as normal.