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changes for the hilti demo #19

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101 changes: 101 additions & 0 deletions versavis/launch/run_versavis_supermegabot.launch
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Original file line number Diff line number Diff line change
@@ -0,0 +1,101 @@
<?xml version="1.0"?>

<launch>
<!-- camera name prefix -->
<arg name="camera_name" default="BFS" />
<arg name="camera_type" default="usb" />
<!-- enable image pipeline -->
<arg name="image_proc" default="true" />
<!-- camera manager -->
<arg name="camera_manager" default="$(arg camera_name)_camera_manager" />
<!-- <arg name="camera_settings_file" default="$(find versavis)/cfg/BFS-U3-04S2C.yaml" />
-->
<!-- Determine this using rosrun pointgrey_camera_driver list_cameras.
If not specified, defaults to first camera found. -->
<arg name="cam0_serial" default="0" />
<arg name="calibrated" default="1" />
<arg name="node_start_delay_cam0" default="10.0" />
<!-- camera nodelet system -->

<node pkg="nodelet" type="nodelet" name="$(arg camera_manager)"
args="manager"
output="screen"
required="true" >
<param name="num_worker_threads" value="4" />
</node>

<group ns="$(arg camera_name)_$(arg camera_type)_0" >
<!-- nodelet manager -->
<!-- camera driver nodelet -->
<node pkg="nodelet" type="nodelet" name="camera_nodelet"
args="load spinnaker_camera_driver/SpinnakerCameraNodelet /$(arg camera_manager)"
launch-prefix="bash -c 'sleep $(arg node_start_delay_cam0); $0 $@'" >

<!-- The following params will be included from a seperate config file soon, this is just for a quick test -->
<param name="frame_id" value="cam0" />
<param name="serial" value="$(arg cam0_serial)" />
<param name="acquisition_frame_rate_enable" value="false" />
<!-- param name="image_format_color_coding" value="BGR8" /-->

<!-- Trigger related config -->
<param name="acquisition_mode" value="Continuous" />
<param name="trigger_source" value="Line0" /> <!-- Pin 2 -->
<param name="enable_trigger" value="On" />
<param name="trigger_activation_mode" value="RisingEdge" />

<!-- Exposure related config -->
<param name="exposure_mode" value="Timed" />
<param name="exposure_auto" value="Continuous" />
<!-- <param name="exposure_auto" value="Off" />
<param name="exposure_time" value="6000" /> --> <!-- in microseconds -->
<param name="line_selector" value="Line2" />
<param name="line_mode" value="Output" />
<param name="line_source" value="ExposureActive" />
<param name="line_inverter" value="false"/>
<param name="auto_exposure_time_upper_limit" value="5000" />
<param name="auto_exposure_time_lower_limit" value="300" />


<!-- Analog related config -->
<!-- <param name="auto_gain" value="Off" />
<param name="gain" value="5" /> -->
<param name="auto_gain" value="Continuous" />
<param name="auto_white_balance" value="Continuous" />
</node>
<node pkg="nodelet" type="nodelet" name="compile_nodelet_cam0"
args="load versavis/VersaVISSynchronizerNodelet /$(arg camera_manager)"
output="screen"
required="true">
<param name="driver_topic" type="string" value="/$(arg camera_name)_$(arg camera_type)_0/image_numbered" />
<param name="versavis_topic" type="string" value="/versavis/cam0/" />
<param name="imu_offset_us" type="int" value="0"/>
</node>
</group>

<!-- Relay publish chameleon3 camera_info topic as versavis. -->
<node name="relay0" pkg="topic_tools" type="relay" args="/$(arg camera_name)_$(arg camera_type)_0/camera_info /versavis/cam0/camera_info" required="true" output="screen"/>

<!-- Run VersaVIS link. -->
<node name="rosserial_python" pkg="rosserial_python" type="serial_node.py"
args="_port:=/dev/versavis _baud:=250000" respawn="true" output="screen" />

<!-- Reset VersaVIS with ros message -->
<node pkg="rostopic" type="rostopic" name="resetter"
args="pub /versavis/reset std_msgs/Bool false --once" output="screen" />

<!-- Recieve IMU message. -->
<node name="versavis_imu_receiver" pkg="versavis"
type="versavis_imu_receiver" required="true" output="screen">
<!-- ADIS16448AMLZ parameters -->
<param name="imu_accelerator_sensitivity" value="0.000833" />
<!-- <param name="imu_gyro_sensitivity" value="0.04" /> -->
<param name="imu_gyro_sensitivity" value="0.04" />
<param name="imu_acceleration_covariance" value="0.043864908" /> <!-- no idea where it is from -->
<param name="imu_gyro_covariance" value="6e-9" /> <!-- no idea where it is from -->
<param name="imu_sub_topic" type="string" value="/versavis/imu_micro"/>
</node>

<!-- Dynamic reconfigure. -->
<!-- <node name="reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" /> -->

</launch>
5 changes: 2 additions & 3 deletions versavis/src/versavis_synchronizer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@ VersaVISSynchronizer::VersaVISSynchronizer(const ros::NodeHandle &nh,
const ros::NodeHandle &nh_private)
: nh_(nh), nh_private_(nh_private), image_transport_(nh),
received_first_camera_info_(false), kMaxImageCandidateLength(10),
kMinSuccessfullConsecutiveMatches(4), kMaxImageDelayThreshold(0.1),
kMinSuccessfullConsecutiveMatches(4), kMaxImageDelayThreshold(0.5),
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This might depend on setup, but with such a high delay threshold, I would suggest lowering the initialization speed

slow_publisher_image_counter_(0), init_number_(0), initialized_(false),
publish_slow_images_(false), publish_every_n_image_(10),
forward_camera_info_(false) {
Expand Down Expand Up @@ -166,8 +166,7 @@ void VersaVISSynchronizer::imageCallback(
// time and the same offset.
// Note: The image_time message should arrive prior to the image.
if (ros::Time::now().toSec() - init_timestamp_.toSec() <
kMaxImageDelayThreshold &&
offset == offset_) {
kMaxImageDelayThreshold) {
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@floriantschopp floriantschopp Feb 3, 2021 •
edited
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I don't think this change makes sense... This is actually required for a correct initialization...

++init_number_;
if (init_number_ >= kMinSuccessfullConsecutiveMatches) {
ROS_INFO("%s: Initialized with %ld offset.",
Expand Down