added master-slave configuration

spinnaker_camera_driver/launch/stereo_master_slave.launch.py

@@ -0,0 +1,168 @@
+# Copyright 2022 Bernd Pfrommer <[email protected]>
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+#
+
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.substitutions import FindPackageShare
+from launch_ros.descriptions import ComposableNode
+from launch.substitutions import LaunchConfiguration as LaunchConfig
+from launch.substitutions import PathJoinSubstitution
+from launch.actions import DeclareLaunchArgument as LaunchArg
+from launch.actions import OpaqueFunction
+from launch import LaunchDescription
+
+# primary camera
+camera_params1 = {
+    #'pixel_format': "BGR8",
+    #'frame_rate_enable': True,
+    #'frame_rate': 20,
+    'image_width': 2048,
+    'image_height': 1536,
+    'debug': False,
+    'compute_brightness': True,
+    'dump_node_map': False,
+    'gain_auto': 'Off',
+    'gain': 0,
+    'exposure_auto': 'Off',
+    'exposure_time': 9000,
+    'line1_selector': 'Line1',
+    'line1_linemode': 'Output',
+    'line2_selector': 'Line2',
+    'line2_v33enable': True,
+    'trigger_mode': 'Off',
+    'chunk_selector_frame_id': 'FrameID',
+    'chunk_enable_frame_id': True,
+    'chunk_selector_exposure_time': 'ExposureTime',
+    'chunk_enable_exposure_time': True,
+    'chunk_selector_gain': 'Gain',
+    'chunk_enable_gain': True,
+    'adjust_timestamp': True,
+    'chunk_mode_active': True,
+    'chunk_selector_timestamp': 'Timestamp',
+    'chunk_enable_timestamp': True,
+    }
+
+# secondary camera
+camera_params2 = {
+    #'pixel_format': "BGR8",
+    #'frame_rate_enable': True,
+    #'frame_rate': 20,
+    'image_width': 2048,
+    'image_height': 1536,
+    'debug': False,
+    #'compute_brightness': True,
+    'dump_node_map': False,
+    'gain_auto': 'Off',
+    'gain': 0,
+    'exposure_auto': 'Off',
+    'exposure_time': 9000,
+    'trigger_selector': 'FrameStart',
+    'trigger_mode': 'On',
+    'trigger_source': 'Line3',
+    'trigger_overlap': 'ReadOut',
+    'chunk_selector_frame_id': 'FrameID',
+    'chunk_enable_frame_id': True,
+    'chunk_selector_exposure_time': 'ExposureTime',
+    'chunk_enable_exposure_time': True,
+    'chunk_selector_gain': 'Gain',
+    'chunk_enable_gain': True,
+    'adjust_timestamp': True,
+    'chunk_mode_active': True,
+    'chunk_selector_timestamp': 'Timestamp',
+    'chunk_enable_timestamp': True,
+    }
+
+def make_camera_node(name, camera_type, serial, arch_type):
+    parameter_file = PathJoinSubstitution(
+        [FindPackageShare('spinnaker_camera_driver'), 'config',
+         camera_type + '.yaml'])
+
+    camera_params = camera_params1
+    if arch_type == "master":
+        camera_params = camera_params1
+    else:
+        camera_params = camera_params2
+
+    node = ComposableNode(
+        package='spinnaker_camera_driver',
+        plugin='spinnaker_camera_driver::CameraDriver',
+        name=name,
+        parameters=[camera_params,
+                    {'parameter_file': parameter_file,
+                     'serial_number': serial}],
+        remappings=[('~/control', '/exposure_control/control'), ],
+        extra_arguments=[{'use_intra_process_comms': True}])
+    return node
+
+
+def launch_setup(context, *args, **kwargs):
+    """Create synchronized stereo camera."""
+    container = ComposableNodeContainer(
+            name='stereo_camera_container',
+            namespace='',
+            package='rclcpp_components',
+            executable='component_container',
+            composable_node_descriptions=[
+                #
+                # These two camera nodes run independently from each other,
+                # but in the same address space
+                #
+                make_camera_node(LaunchConfig('cam_0_name'),
+                                 LaunchConfig('cam_0_type').perform(context),
+                                 LaunchConfig('cam_0_serial'), "master"),
+                make_camera_node(LaunchConfig('cam_1_name'),
+                                 LaunchConfig('cam_1_type').perform(context),
+                                 LaunchConfig('cam_1_serial'), "slave"),
+                #
+                # This node is for external exposure control. Remove
+                # if you don't need it, and switch on auto exposure.
+                #
+                ComposableNode(
+                    package='exposure_control_ros2',
+                    plugin='exposure_control_ros2::ExposureControl',
+                    name='exposure_control',
+                    parameters=[{'cam_name': LaunchConfig('cam_0_name'),
+                                 'max_gain': 20.0,
+                                 'gain_priority': False,
+                                 'brightness_target': 100,
+                                 'max_exposure_time': 9500.0,
+                                 'min_exposure_time': 1000.0}],
+                    remappings=[('~/meta', ['/', LaunchConfig('cam_0_name'),
+                                            '/meta']), ],
+                    extra_arguments=[{'use_intra_process_comms': True}],
+                ),
+            ],
+            output='screen',
+    )  # end of container
+    return [container]
+
+
+def generate_launch_description():
+    """Create composable node by calling opaque function."""
+    return LaunchDescription([
+        LaunchArg('cam_0_name', default_value=['cam_0'],
+                  description='camera name (ros node name) of camera 0'),
+        LaunchArg('cam_1_name', default_value=['cam_1'],
+                  description='camera name (ros node name) of camera 1'),
+        LaunchArg('cam_0_type', default_value='blackfly_s',
+                  description='type of camera 0'),
+        LaunchArg('cam_1_type', default_value='blackfly_s',
+                  description='type of camera 1'),
+        LaunchArg('cam_0_serial', default_value="'21143313'",
+                  description='FLIR serial number of camera 0 (in quotes!!)'),
+        LaunchArg('cam_1_serial', default_value="'21143314'",
+                  description='FLIR serial number of camera 1 (in quotes!!)'),
+        OpaqueFunction(function=launch_setup)
+        ])

spinnaker_camera_driver/launch/stereo_synced.launch.py

@@ -65,7 +65,7 @@ def make_camera_node(name, camera_type, serial):
         name=name,
         parameters=[camera_params,
                     {'parameter_file': parameter_file,
-                     'serial_number': '20435008'}],
+                     'serial_number': serial}],
         remappings=[('~/control', '/exposure_control/control'), ],
         extra_arguments=[{'use_intra_process_comms': True}])
     return node