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bumblebee don't publish image --> fuerte

asked 2013-02-05 05:41:08 -0600

pmarinplaza gravatar image
OS: Ubuntu 12.04
ROS: Fuerte
Camera: Bumblebee2 -> svn co `cu-ros-pkg.googlecode.com/svn/trunk/bumblebee2`
Other Software include: Bumblebee2 ROS package, libdc1394-22, Coriander programme.
Other links cheked:

http://answers.ros.org/question/11492/bumblebee2-or-bumblebee1394-this-is-the-question

http://answers.ros.org/questions/37289/revisions/

http://answers.ros.org/question/33666/error-with-rosmake-bumblebee2-fuerte

http://answers.ros.org/question/10152/bumblebee2-640x480-under-diamondback/?answer=14894#post-id-14894

http://ninghang.blogspot.com.es/2011/11/running-bumblebee2-on-ros-tutorial.html

And I can't run bumblebee2 in fuerte. I follow 2 lines: one with the updated package camera1394 like this:

<launch>
  <!-- name node (and topic) after parameter file -->
  <node pkg="camera1394" type="camera1394_node"
        name="bumblebee2" output="screen">
    <rosparam
       file="$(find DemoROS)/launch/bumblebee2.yaml" /> 
  </node>
</launch>

and the yaml

# Sample camera parameters for the Bumblebee2
#guid: 08144361026320a0 (defaults to first camera found)
#video_mode: 1024x768_mono #for a single grayscale frame
video_mode: 1024x768_mono16 #for bumblebee2
fps: 15
bayer_pattern: GRBG
bayer_method: Nearest
settings_url: file:///opt/ros/camera_settings/bumblebee_right.yaml
settings_url2: file:///opt/ros/camera_settings/bumblebee_left.yaml
# these all default to automatic settings:
#brightness: 511
#exposure: 256
#gain: 150
shutter: -1
#whitebalance: "2000 2000"

$ roslaunch DemoROS bumblebee2_lsi.launch

[ INFO] [1360084095.413930703]: Found camera with GUID b09d010090cf10
[ INFO] [1360084095.414026074]: No guid specified, using first camera found, GUID: b09d010090cf10
[ INFO] [1360084095.414056375]: camera model: Point Grey Research Bumblebee2 BB2-08S2C
[ WARN] [1360084095.414878719]: [Nearest] Bayer decoding in the driver is DEPRECATED; image_proc decoding preferred.
[ERROR] [1360084095.414906986]: Unknown Bayer method [Nearest]. Using ROS image_proc instead.
[ERROR] [1360084095.415115555]: unknown bayer pattern [GRBG]
[ INFO] [1360084095.418217826]: [00b09d010090cf10] opened: 1024x768_mono16, 15 fps, 400 Mb/s

This way publish one http://img707.imageshack.us/img707/4431/1024x768mono16.jpg (image) with both camera data mixed. I try de-interlaced it but I don't know what I am doing wrong. I try with other formats like Format7_mode3 with dynamic_reconfigure pkg and this is the result: http://img706.imageshack.us/img706/4717/format7mode3.jpg (image)

My bumblebee2_lsi program is this:

#include <signal.h>
#include <ros/ros.h>
#include <ros/console.h>
#include <boost/format.hpp>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/image_encodings.h>
#include <tf/transform_listener.h>
//#include <camera_info_manager/camera_info.h>
#include <camera_info_manager/camera_info_manager.h>
#include <image_transport/image_transport.h>
#include <dynamic_reconfigure/server.h>
#include <dynamic_reconfigure/SensorLevels.h>
//#include "bumblebee2.h"
//#include "bumblebee2/Bumblebee2Config.h"

namespace enc = sensor_msgs::image_encodings;


/** @file

@brief camera1394 is a ROS driver for 1394 Firewire digital cameras.

This is a ROS port of the Player driver for 1394 cameras, using
libdc1394.  It provides a reliable driver with minimal dependencies,
intended to fill a role in the ROS image pipeline similar to the other
ROS camera drivers.

The ROS image pipeline provides Bayer filtering at a higher level (in
image_proc).  In some cases it is useful to run the driver without the
entire image pipeline, so libdc1394 Bayer decoding is also provided.

@par Advertises

 - \b camera/image_raw topic (sensor_msgs/Image) raw 2D camera images
   (only raw if \b bayer_method is \b NONE).

 - \b camera/camera_info topic (sensor_msgs/CameraInfo) Calibration
   information for each image.


@par Subscribes

 - None


@par Parameters

- \b frame_id : @b [string ...
(more)
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Comments

2

These questions come up often enough that I wish we could support an "official" ROS bumblebee driver. It's not all that different from the basic camera1394 driver, which I do support. Unfortunately, I have no bumblebee hardware for testing, so I cannot do that myself.

joq gravatar imagejoq ( 2013-02-05 05:52:10 -0600 )edit

Thanks for the comment ;) Maybe this code help a little to understand the problem: http://cu-ros-pkg.googlecode.com/svn/trunk/bumblebee2/src/dev_camera1394.cpp (line 725) and the use of this code here : http://cu-ros-pkg.googlecode.com/svn/trunk/bumblebee2/src/bumblebee2.cpp (line 382)

pmarinplaza gravatar imagepmarinplaza ( 2013-02-06 02:34:56 -0600 )edit

1 Answer

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answered 2013-02-18 20:15:25 -0600

Miquel Massot gravatar image

Pease check our firewire stereo driver http://www.ros.org/wiki/camera1394stereo, which we are using for bumblebee2 cameras with Fuerte.

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Asked: 2013-02-05 05:41:08 -0600

Seen: 929 times

Last updated: Feb 05 '13