camera_drivers: camera1394 | camera_info_manager | prosilica_camera | prosilica_gige_sdk | wge100_camera
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Stack Summary
This stack contains drivers for a variety of cameras, and some associated tools.
- Author: Maintained by Blaise Gassend
- License: BSD,LGPL,Commercial,GPL
- Repository: ros-pkg (https://code.ros.org/svn/ros-pkg)
Supported Hardware
The following camera drivers can be used:
Prosilica Ethernet Cameras: in the prosilica_camera package; provides the streaming API or the polled API depending on the mode it is in. Prosilica GE Series Info.
WGE100 Ethernet Cameras: supported in the wge100_camera package; provides the streaming camera API.
Firewire (IEEE 1394) Digital Cameras: supported in the camera1394 package; provides the streaming camera API. (As of version 1.1.0, previously in camera_drivers_experimental.)
Third party drivers:
Here is an overview of some of the third-party drivers written for ros: http://www.iheartrobotics.com/2010/05/testing-ros-usb-camera-drivers.html
A generic driver that will work with any camera supported by gstreamer, in particular many webcams, can be found in the Brown repository. The name of the driver is currently probe, but is expected to change to something more explicit.
Swissranger SR3K and SR4K: supported in the swissranger_camera package.
Bumblebee: supported in the bumblebee2 package from cu-ros-pkg.
Videre Stereo cameras (both STOC and regular): supported in the videre_stereo_cam package from ua-ros-pkg.
ROS API
To encourage compatibility between camera nodes, it is recommended that cameras provide one or both of the the following minimal APIs. The image_transport package provides a CameraPublisher class to help implementing this API. The camera_info_manager package exports a CameraInfoManager C++ class that provides sensor_msgs/CameraInfo data and handles sensor_msgs/SetCameraInfo service requests.
Streaming Camera Nodes
This API is for cameras that produce a continuous stream of images.Published Topics
camera/image_raw (sensor_msgs/Image)- Stream of images
- Camera intrinsics for images published on camera/image_raw
Services
camera/set_camera_info (sensor_msgs/SetCameraInfo)- Sets the camera's intrinsics
Polled Camera Nodes
This API is for cameras that produce an image only when polled. There may be multiple clients, each with their own response_namespace. These topics are only published in response to the request_image service. The polled_camera package provides support for implementing this API.Published Topics
<response_namespace>/image_raw (sensor_msgs/Image)- The polled image topic for a particular client.
- The corresponding camera state.
Services
set_camera_info (sensor_msgs/SetCameraInfo)- Sets the calibration parameters stored internally on the camera.
- Captures an image and publishes it in the namespace specified by the request message. Returns the timestamp.
Report a Bug
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