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107-systems/l3xz_openmv_camera

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💾 l3xz_openmv_camera

Build Status Spell Check status

ROS driver for OpenMV Cam H7 R2, including support for thermal vision with FLIR Lepton adapter module.

Setup

Prepare camera

  1. Connect camera via USB
  2. Copy camera_script/main.py to the USB drive of the camera
  3. Unmount camera
  4. Reconnect camera

Additional dependencies

How-to-build

cd $COLCON_WS/src
git clone --recursive https://github.com/107-systems/l3xz_openmv_camera
cd $COLCON_WS
source /opt/ros/humble/setup.bash
PYTHONWARNINGS=ignore:::setuptools.command.install,ignore:::setuptools.command.easy_install,ignore:::pkg_resources colcon build --packages-select l3xz_openmv_camera

How-to-run

cd $COLCON_WS
. install/setup.bash
ros2 run l3xz_openmv_camera l3xz_openmv_camera

Interface Documentation

Published Topics

Default name Type Description
/l3xz/openmv/image_color sensor_msgs/Image Camera image
/l3xz/openmv/image_color_compressed sensor_msgs/CompressedImage JPEG compressed image
/l3xz/openmv_camera_info sensor_msgs/CameraInfo Camera info
/l3xz/openmv/input_n std_msgs/Bool State of GPIO configured as input

Services

Default name Description
/l3xz/openmv/rgb Set binary values to RGB LED
/l3xz/openmv/ir Set IR LED
/l3xz/openmv/gpio_config Configure GPIO pin
/l3xz/openmv/gpio_set Set GPIO pin configured as output

Parameters

Name Default Description
image_topic image_color RGB image
image_queue 1 Queue size for RGB image topic
info_topic camera_info Camera configuration
info_queue 1 Queue size for camera info topic
show_image false Show RGB image in OpenCV window
port /dev/ttyACM0 Serial port of camera
frames_hz 10 fps
gpio_hz 1 GPIO update rate
frame_id openmv_camera_frame camera tf frame
resolution QQVGA image resolution

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