网站群管理建设工作,wordpress知识付费模板,手工制作代加工接单网,山东企业展厅设计公司ROS系统读取USB相机图像数据 前言usb_cam 功能包下载与编译摄像头选择连接摄像头可配置参数 前言
usb_cam功能包简介 为了丰富机器人与外界的交互方式#xff0c;已经增加了与机器人的语音交互方式#xff0c;不仅使机器人能够说话发声#xff0c;还能听懂我们说的话#… ROS系统读取USB相机图像数据 前言usb_cam 功能包下载与编译摄像头选择连接摄像头可配置参数 前言
usb_cam功能包简介 为了丰富机器人与外界的交互方式已经增加了与机器人的语音交互方式不仅使机器人能够说话发声还能听懂我们说的话但是如果只有语音交互的话机器人就是一个盲人无法看到这个色彩斑斓的大千世界因此我们就需要为机器人增加视觉识别功能。现在市面上最常见的还是USB摄像头物美价廉要想使USB摄像头在ROS下正常工作我们就需要一个软件包来支持现在ROS下最常用的usb摄像头软件包就是usb_cam了简单理解该软件包就是V4L(Video for Linux)USB摄像头驱动在ROS在的一个移植版本。截止到目前为止该软件包在indigo和jade版本上还处于维护状态对于kinetic版本及其以上还未有维护当然虽然没有维护但是在kinetic版本上也可以工作。
usb_cam 功能包下载与编译
系统环境ubuntu20.04 ROS版本noetic
usb_cam功能包可以通过github下载
git clone https://github.com/bosch-ros-pkg/usb_cam.git usb_cam下载完成后提示 正克隆到 ‘usb_cam’… remote: Enumerating objects: 2232, done. remote: Counting objects: 100% (2232/2232), done. remote: Compressing objects: 100% (1015/1015), done. remote: Total 2232 (delta 1033), reused 2082 (delta 988), pack-reused 0 接收对象中: 100% (2232/2232), 843.71 KiB | 306.00 KiB/s, 完成. 处理 delta 中: 100% (1033/1033), 完成. 拷贝到自己的ROS工作空间进行编译
catkin_make编译报错 – Checking for module ‘libv4l2’ – No package ‘libv4l2’ found CMake Error at /usr/share/cmake-3.16/Modules/FindPkgConfig.cmake:463 (message): A required package was not found Call Stack (most recent call first): /usr/share/cmake-3.16/Modules/FindPkgConfig.cmake:643 (_pkg_check_modules_internal) usb_cam/CMakeLists.txt:10 (pkg_check_modules) 原因就是在usb_cam功能包的CMakeLists.txt的第10行是
pkg_check_modules(video4linux libv4l2 REQUIRED)系统中没有找到这个包所以报错了。
sudo apt-get install libv4l2-dev出现无法定位软件包则需要更换镜像源 我换了源也不行可能换源没有成功
sudo apt-get install libv4l-dev成功了 获取:1 http://mirrors.aliyun.com/ubuntu focal/main amd64 libv4l2rds0 amd64 1.18.0-2build1 [15.8 kB] 获取:2 http://mirrors.aliyun.com/ubuntu focal/main amd64 libv4l-dev amd64 1.18.0-2build1 [108 kB] 已下载 124 kB耗时 1秒 (221 kB/s) 正在选中未选择的软件包 libv4l2rds0:amd64。 (正在读取数据库 … 系统当前共安装有 361571 个文件和目录。) 准备解压 …/libv4l2rds0_1.18.0-2build1_amd64.deb … 正在解压 libv4l2rds0:amd64 (1.18.0-2build1) … 正在选中未选择的软件包 libv4l-dev:amd64。 准备解压 …/libv4l-dev_1.18.0-2build1_amd64.deb … 正在解压 libv4l-dev:amd64 (1.18.0-2build1) … 正在设置 libv4l2rds0:amd64 (1.18.0-2build1) … 正在设置 libv4l-dev:amd64 (1.18.0-2build1) … 正在处理用于 libc-bin (2.31-0ubuntu9.9) 的触发器 … 再次编译
catkin_make顺利成功
摄像头选择
摄像头要选择
usb 接口支持免驱协议:USB Video Class (UVC)支持的操作系统Linux with UVC above linux-2.6
连接摄像头
首先先通过 下面指令看下本地是否有摄像头有几个
ls /dev/video*这代表有两个摄像头一个摄像头出两个/dev/video*
所以再连接摄像头后会挂载到 /dev/video4下面
修改usb_cam功能包下面的config文件夹下的 usb_cam.yml文件中的
video_device: /dev/video0 改为
video_device: /dev/video4 启动功能包
roslaunch usb_cam test_img_view.launch实际场景
采集到的摄像头图像 查看下当前topic
rostopic list/image_view/output /image_view/parameter_descriptions /image_view/parameter_updates /rosout /rosout_agg /usb_cam/camera_info /usb_cam/image_raw /usb_cam/image_raw/compressed /usb_cam/image_raw/compressed/parameter_descriptions /usb_cam/image_raw/compressed/parameter_updates /usb_cam/image_raw/compressedDepth /usb_cam/image_raw/compressedDepth/parameter_descriptions /usb_cam/image_raw/compressedDepth/parameter_updates /usb_cam/image_raw/theora /usb_cam/image_raw/theora/parameter_descriptions /usb_cam/image_raw/theora/parameter_updates 输出频率为30hz rostopic hz /usb_cam/image_raw/theora subscribed to [/usb_cam/image_raw/theora] average rate: 32.730 min: 0.000s max: 0.041s std dev: 0.01037s window: 33 average rate: 31.137 min: 0.000s max: 0.047s std dev: 0.00844s window: 62 average rate: 30.616 min: 0.000s max: 0.047s std dev: 0.00748s window: 92 可配置参数
start_service_name: start_capture # Defines name suffix for std_srvs::Empty service which restarts suspended streaming
stop_service_name: stop_capture # Defines name suffix for std_srvs::Empty service which suspends camera polling timer# 改成自己设备的挂载位置
video_device: /dev/video4 # Device drivers entrypoint
# 根据自己摄像头选择
io_method: mmap # I/O method# - read - for devices supporting virtual filesystem or block I/O# - mmap - for devices with direct libusb memory mapping# - userptr - for userspace devices supporting userspace pointer exchange
# 图像编码格式
pixel_format: yuyv # Pixel format for Video4linux device (also selects decoder mode)# https://wiki.videolan.org/YUV#YUV_4:2:0_.28I420.2FJ420.2FYV12.29# - yuyv - YUV420# - yuv - synonym for yuyv# - uyvy - UVY240# - yuvmono10 - Monochrome 10-bit pseudo-YUV# - rgb24 - Linear 8-bit RGB# - bgr24 - OpenCV-compatible 8-bit BGR# - grey - Grayscale 8-bit monochrome# - yu12 - YU-reversed YUV420# - mjpeg - FFMPEG decoder, MotionJPEG, for compatible hardware# - h264 - FFMPEG decoder, H.264, for compatible hardware
color_format: yuv422p # On-chip color representation mode for the input frame encoded by hardware# - yuv422p - YUV422 - default, compatible with most MJPEG hardware encoders# - yuv420p - YUV420 - mandatory for H.264 and H.265 hardware encoders
create_suspended: false # Instructs the node whether to start streaming immediately after launch# or to wait until the start service will be triggered
full_ffmpeg_log: false # Allows to suppress warning messages generated by libavcodec, cleans log
camera_name: head_camera # ROS internal name for the camera, used to generate camera_info message
# 发布topic中的frame_id
camera_frame_id: head_camera # Frame ID used to generate coordinate transformations
# 发布的话题名称
camera_transport_suffix: image_raw # Suffix used by image_transport to generate topic names
camera_info_url: # URI for camera calibration data (likely a YML file obtained from camera_calibration)
# 根据相机的参数设置图像的宽、高
image_width: 640 # Frame dimensions, should be supported by camera hardware
image_height: 480
# 发布频率
framerate: 30 # Camera polling frequency, Hz (integer)# Auxiliary camera parameters provided by libv4l2.# Names for these parameters are generated automatically according to the intrinsic control names exported by the# camera driver. The node queries cameras kernel controller module to determine the parameters that can be set up# via ROS. For these parameters the corresponding ROS parameters with identical names are generated under this# namespace.# See also the comprehensive node output describing parameter names and feasible values for them to be set up here.# It is also possible to have a list of the available control names using v4l2-ctl application from v4l2-util package:# v4l2-ctl --device/dev/videoID -L
intrinsic_controls: focus_auto: trueexposure_auto_priority: trueexposure_auto: 3white_balance_temperature_auto: truepower_line_frequency: 1ignore: [brightness,contrast,saturation,gain,sharpness,backlight_compensation,white_balance_temperature,exposure_absolute,pan_absolute,tilt_absolute,focus_absolute,zoom_absolute] # Use this list to enumerate the control names that should be delisted from the camera setup# NOTE: the ROS parameters for the V4L controls supported but listed here would be STILL# generated, but the values WILL NOT BE USED to set up the camera. To affect these controls# once you want to do that, their names should me REMOVED from this list!
