The bare minimum is to get images from your camera and then publish them as sensor_msgs/Image.
OpenCV is good as a data intermediate format, if you can get images from your camera and display them with cv::imshow or save them to disk with imwrite and they look good then converting them to ros with cv_bridge should be painless.
The next thing to do is use image_transport CameraPublisher and use a CameraInfoManager along with it and you will be able to get compressed image outputs and synchronized camera_info messages along with the standard image.
For performance it is good to have the driver be a nodelet.
Dynamic reconfigure support is nice for changing parameters that should be adjustable live- exposure, frame rate, and anything else the camera supports.
Beyond that look at examples of existing cameras:
https://github.com/ros-drivers/usb_cam
https://github.com/magazino/pylon_camera
https://github.com/ros-drivers/pointg...
https://github.com/ros-drivers/axis_c...
(Is there a generic network or security camera driver?)
Doesn't look like much has happened: https://github.com/ros-drivers/pointg...
camera_aravis looks like it has been forked like crazy which makes it hard to use, but maybe a generic genicam interface work with the Blackfly S?
Asked: 2018-02-20 09:01:51 -0600
Seen: 338 times
Last updated: Feb 20 '18
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