Mech-Eye ROS2 Interface

This repository contains the ROS 2 interface for Mech-Eye Industrial 3D Camera.

Installation

ROS and Ubuntu Version Requirements

Ubuntu 20.04 and ROS Galactic have been tested to work with this interface.

Dependencies

Package	Version
OpenCV	>= 3
PCL	>= 1.8
Mech-Eye API	latest

If you have installed 'ros-galactic-desktop' successfully, run the following commands to install the dependencies.

sudo apt install libopencv-dev
sudo apt install ros-galactic-cv-bridge
sudo apt install libpcl-dev
sudo apt install ros-galactic-pcl-conversions
sudo apt install python3-colcon-common-extensions

Install Mech-Eye API

Download Mech-Eye API from Mech-Mind's website and install it with sudo apt.

Clone and Compile the Interface

Clone and compile the interface with the following commands:

mkdir -p ~/colcon_ws/src && cd ~/colcon_ws/src
git clone https://github.com/MechMindRobotics/mecheye_ros2_interface.git
cd ~/colcon_ws
colcon build

Start Using the Interface

1. Source the build workspace and run the interface:

   source ~/colcon_ws/install/setup.bash
   ros2 run mecheye_ros_interface start

2. Enter the index number of the camera to which you want to connect, and press the Enter key.

3. Open a new terminal, source the workspace and invoke a service：

   source ~/colcon_ws/install/setup.bash
   ros2 service call [/service_name] [mecheye_ros_interface/srv/ServiceName] "{parameter_name: parameter_value}"

   Note: For code examples of each service, check the "Services" section below.

• Interface functions are described in the online documentation Mech-Eye API Reference.
• Change the following configurations in ~/colcon_ws/src/mecheye_ros2_interface/src/MechMindCamera.cpp according to your needs:
  • save_file in line 18: To enable file saving to the designated path, change the value to true.

    Note: You can change the paths for file saving in /mecheye_ros2_interface/src/MechMindCamera.cpp.

  • camera_ip in line 17: Assign the IP address of your camera as the value to this parameter.

    Note: To connect to a camera by its IP address, you also need to uncomment lines 44 to 55, and comment lines 39 to 40 and lines 57 to 59.

  Note: Remember to run colcon build again after making changes to MechMindCamera.h and *.cpp.

Topics

/mechmind/camera_info

Camera calibration and metadata.

/mechmind/color_image

Color image encoded as "bgr8".

/mechmind/depth_image

Depth image encoded as 32-bit float.

/mechmind/point_cloud

Point cloud data.

/mechmind/color_point_cloud

Textured point cloud data.

Services

add_user_set

Invoke this service to add a parameter group. The newly added parameter group is automatically selected as the current parameter group.

This service has one parameter:

• value (string): the name of the parameter group to be added.

Example: add a parameter group named "123"

ros2 service call /add_user_set mecheye_ros_interface/srv/AddUserSet "{value: '123'}"# Parameter group names that consist of numbers only must be surrounded with single quotation marks.

capture_color_map

Invoke this service to obtain a 2D image.

Example:

ros2 service call /capture_color_map mecheye_ros_interface/srv/CaptureColorMap

capture_color_point_cloud

Invoke this service to obtain a textured point cloud.

Example:

ros2 service call /capture_color_point_cloud mecheye_ros_interface/srv/CaptureColorPointCloud

capture_depth_map

Invoke this service to obtain a depth map.

Example:

ros2 service call /capture_depth_map mecheye_ros_interface/srv/CaptureDepthMap

capture_point_cloud

Invoke this service to obtain an untextured point cloud.

Example:

ros2 service call /capture_point_cloud mecheye_ros_interface/srv/CapturePointCloud

delete_user_set

Invoke this service to delete the specified parameter group.

This service has one parameter:

• value (string): the name of the parameter group to be deleted.

Example: delete the parameter group named "123"

ros2 service call /delete_user_set mecheye_ros_interface/srv/DeleteUserSet "{value: 123}"

device_info

Invoke this service to print the following information of the currently connected camera:

• Model
• Serial number (ID)
• Hardware version
• Firmware version
• IP address
• Port

Example:

ros2 service call /device_info mecheye_ros_interface/srv/DeviceInfo

get_2d_expected_gray_value

Invoke this service to obtain the current ExpectedGrayValue value.

Example:

ros2 service call /get_2d_expected_gray_value mecheye_ros_interface/srv/Get2DExpectedGrayValue

get_2d_exposure_mode

Invoke this service to obtain the current Scan2DExposureMode value.

Example:

ros2 service call /get_2d_exposure_mode mecheye_ros_interface/srv/Get2DExposureMode

get_2d_exposure_sequence

Invoke this service to obtain the current HDRExposureSequence value.

Example:

ros2 service call /get_2d_exposure_sequence mecheye_ros_interface/srv/Get2DExposureSequence

get_2d_exposure_time

Invoke this service to obtain the current 2D ExposureTime value.

Example:

ros2 service call /get_2d_exposure_time mecheye_ros_interface/srv/Get2DExposureTime

get_2d_roi

Invoke this service to obtain the current Scan2DROI values.

Example:

ros2 service call /get_2d_roi mecheye_ros_interface/srv/Get2DROI

get_2d_sharpen_factor

Invoke this service to obtain the current SharpenFactor value.

Example:

ros2 service call /get_2d_sharpen_factor mecheye_ros_interface/srv/Get2DSharpenFactor

get_2d_tone_mapping

Invoke this service to obtain the current ToneMappingEnable value.

Example:

ros2 service call /get_2d_tone_mapping mecheye_ros_interface/srv/Get2DToneMappingEnable

get_3d_exposure

Invoke this service to get the current 3D ExposureSequence values.

Example:

ros2 service call /get_3d_exposure mecheye_ros_interface/srv/Get3DExposure

get_3d_gain

Invoke this service to obtain the current Gain value.

Example:

ros2 service call /get_3d_gain mecheye_ros_interface/srv/Get3DGain

get_3d_roi

Invoke this service to obtain the current Scan3DROI values.

Example:

ros2 service call /get_3d_roi mecheye_ros_interface/srv/Get3DROI

get_all_user_sets

Invoke this service to obtain the names of all available parameter groups.

Example:

ros2 service call /get_all_user_sets mecheye_ros_interface/srv/GetAllUserSets

get_cloud_outlier_filter_mode

Invoke this service to get the current CloudOutlierFilterMode value.

Example:

ros2 service call /get_cloud_outlier_filter_mode mecheye_ros_interface/srv/GetCloudOutlierFilterMode

get_cloud_smooth_mode

Invoke this service to get the current CloudSmoothMode value.

Example:

ros2 service call /get_cloud_smooth_mode mecheye_ros_interface/srv/GetCloudSmoothMode

get_current_user_set

Invoke this service to obtain the name of the currently selected parameter group.

Example:

ros2 service call /get_current_user_set mecheye_ros_interface/srv/GetCurrentUserSet

get_depth_range

Invoke this service to obtain the current DepthRange value.

Example:

ros2 service call /get_depth_range mecheye_ros_interface/srv/GetDepthRange

get_fringe_contrast_threshold

Invoke this service to obtain the current FringeContrastThreshold value.

Example:

ros2 service call /get_fringe_contrast_threshold mecheye_ros_interface/srv/GetFringeContrastThreshold

get_fringe_min_threshold

Invoke this service to obtain the current FringeMinThreshold value.

Example:

ros2 service call /get_fringe_min_threshold mecheye_ros_interface/srv/GetFringeMinThreshold

get_laser_settings

Invoke this service to obtain the current laser camera settings.

Note: This service is only available for a laser camera.

Example:

ros2 service call /get_laser_settings mecheye_ros_interface/srv/GetLaserSettings

get_projector_anti_flicker_mode

Invoke this service to obtain the current AntiFlickerMode value.

Note: This service is only available for PRO (V4), PRO M (V4), NANO (V4), and Nano (V3).

Example:

ros2 service call /get_projector_anti_flicker_mode mecheye_ros_interface/srv/GetProjectorAntiFlickerMode

get_projector_fringe_coding_mode

Invoke this service to obtain the current FringeCodingMode value.

Note: This service is only available for PRO S (V4), PRO M (V4), Nano (V3), and Pro XS (V3).

Example:

ros2 service call /get_projector_fringe_coding_mode mecheye_ros_interface/srv/GetProjectorFringeCodingMode

get_projector_power_level

Invoke this service to obtain the current powerLevel value.

Note: This service is only available for DLP cameras, excluding Deep (V3) and Pro L Enhanced (V3).

Example:

ros2 service call /get_projector_power_level mecheye_ros_interface/srv/GetProjectorPowerLevel

get_uhp_settings

Invoke this service to obtain the current UHP camera settings.

Note: This service is only available for the UHP series.

Example:

ros2 service call /get_uhp_settings mecheye_ros_interface/srv/GetUhpSettings

get_uhp_capture_mode

Invoke this service to obtain the current UhpCaptureMode value.

Note: This service is only available for the UHP series.

Example:

ros2 service call /get_uhp_capture_mode mecheye_ros_interface/srv/GetUhpCaptureMode

get_uhp_fringe_coding_mode

Invoke this service to obtain the current UhpFringeCodingMode value.

Note: This service is only available for the UHP series.

Example:

ros2 service call /get_uhp_fringe_coding_mode mecheye_ros_interface/srv/GetUhpFringeCodingMode

set_2d_expected_gray_value

Invoke this service to set the value of ExpectedGrayValue value.

Note: ExpectedGrayValue only takes effect when Scan2DExposureMode is set to Auto.

This service has one parameter:

• value (int32): the ExpectedGrayValue value to be set. The value range is 0–255.

Example: set the value of ExpectedGrayValue to 20

ros2 service call /set_2d_expected_gray_value mecheye_ros_interface/srv/Set2DExpectedGrayValue "{value: 20}"

set_2d_exposure_mode

Invoke this service to set the value of Scan2DExposureMode.

This service has one parameter:

• value (string): the Scan2DExposureMode value to be set. Values include "Timed", "Auto", "HDR", and "Flash".

Example: set the value of Scan2DExposureMode to "HDR"

ros2 service call /set_2d_exposure_mode mecheye_ros_interface/srv/Set2DExposureMode "{value: HDR}"

set_2d_exposure_sequence

Invoke this service to set the value of HDRExposureSequence.

Note: HDRExposureSequence only takes effect when Scan2DExposureMode is set to HDR.

This service has one parameter:

• sequence (float64[]): the HDRExposureSequence values to be set.
  • Value range: 0.1–999.0
  • Number of elements in the sequence: 1–5

Example: set the values of HDRExposureSequence to 30.0, 35.5, and 40.0

ros2 service call /set_2d_exposure_sequence mecheye_ros_interface/srv/Set2DExposureSequence "{sequence: [30.0,35.5,40.0]}"

set_2d_exposure_time

Invoke this service to set the value of 2D ExposureTime.

Note: 2D ExposureTime only takes effect when Scan2DExposureMode is set to Timed.

This service has one parameter:

• value (float64): the 2D ExposureTime value to be set. The value range is 0.1–999.0.

Example: set the values of 2D ExposureTime to 35.5

ros2 service call /set_2d_exposure_time mecheye_ros_interface/srv/Set2DExposureTime "{value: 35.5}"

set_2d_roi

Invoke this service to obtain the values of Scan2DROI.

Note: Scan2DROI only takes effect when Scan2DExposureMode is set to Auto.

This service has four parameters:

• x (uint32): the x coordinate of the upper-left corner of the auto-exposure ROI.
• y (uint32): the y coordinate of the upper-left corner of the auto-exposure ROI.
• width (uint32): the width of the auto-exposure ROI.
• height (uint32): the height of the auto-exposure ROI.

Example: set the values of 2D Scan2DROI to 20, 20 , 600, and 800

ros2 service call /set_2d_roi mecheye_ros_interface/srv/Set2DROI "{x: 20, y: 20, width: 600, height: 800}"

set_2d_sharpen_factor

Invoke this service to set the value of SharpenFactor.

This service has one parameter:

• value (float64): the SharpenFactor value to be set. The value range is 0.0–5.0.

Example: set the value of SharpenFactor to 0.5

ros2 service call /set_2d_sharpen_factor mecheye_ros_interface/srv/Set2DSharpenFactor "{value: 0.5}"

set_2d_tone_mapping

Invoke this service to set the value of ToneMappingEnable.

This service has one parameter:

• value (bool): the ToneMappingEnable value to be set.

Example: set the value of ToneMappingEnable to True

ros2 service call /set_2d_tone_mapping mecheye_ros_interface/srv/Set2DToneMappingEnable "{value: True}"

set_3d_exposure

Invoke this service to set the value of 3D ExposureSequence.

This service has one parameter:

• sequence (float64[]): the 3D ExposureSequence values to be set.
  • Value range: 0.1–99.0
  • Number of elements in the sequence: 1–3

Example: set the values of 3D ExposureSequence to 30.0, 35.5, and 40.0

ros2 service call /set_3d_exposure mecheye_ros_interface/srv/Set3DExposure "{sequence: [30.0,35.5,40.0]}"

set_3d_gain

Invoke this service to set the value of Gain.

This service has one parameter:

• value (float64): the Gain value to be set. The value range is 0.0–16.0.

Example: set the value of Gain to 2.5

ros2 service call /set_3d_gain mecheye_ros_interface/srv/Set3DGain "{value: 2.5}"

set_3d_roi

Invoke this service to set the value of Scan3DROI.

This service has four parameters:

• x (uint32): the x coordinate of the upper-left corner of the ROI.
• y (uint32): the y coordinate of the upper-left corner of the ROI.
• width (uint32): the width of the ROI.
• height (uint32): the height of the ROI.

Example: set the values of Scan3DROI to 20, 20, 600, and 800

ros2 service call /set_3d_roi mecheye_ros_interface/srv/Set3DROI "{x: 20, y: 20, width: 600, height: 800}"

set_cloud_outlier_filter_mode

Invoke this service to set the value of CloudOutlierFilterMode.

This service has one parameter:

• value (string): the CloudOutlierFilterMode value to be set. Values include "Off", "Weak", and "Normal".

Example: set the value of CloudOutlierFilterMode to "Off"

ros2 service call /set_cloud_outlier_filter_mode mecheye_ros_interface/srv/SetCloudOutlierFilterMode "{value: 'Off'}"# The value "Off" must be surrounded with single quotation marks.

set_cloud_smooth_mode

Invoke this service to set the value of CloudSmoothMode.

This service has one parameter:

• value (string): the CloudSmoothMode value to be set. Values include "Off", "Weak", "Normal" and "Strong".

Example: set the value of CloudSmoothMode to "Off"

ros2 service call /set_cloud_smooth_mode mecheye_ros_interface/srv/SetCloudSmoothMode "{value: 'Off'}"# The value "Off" must be surrounded with single quotation marks.

set_current_user_set

Invoke this service to select the parameter group to use.

This service has one parameter:

• value (string): the name of the parameter group to be selected. The "default" and "calib" parameter groups are built-in.

Example: select the "123" parameter group

ros2 service call /set_current_user_set mecheye_ros_interface/srv/SetCurrentUserSet "{value: 123}" 

set_depth_range

Invoke this service to set the value of DepthRange.

This service has two parameters:

• lower (int32): The lower limit of the depth range. The value range is 1–4000.
• upper (int32): The upper limit of the depth range. The value range is 2-5000 (must be greater than the value of lower).

Example: set the values of DepthRange to 300 and 1000

ros2 service call /set_depth_range mecheye_ros_interface/srv/SetDepthRange "{lower: 300, upper: 1000}"

set_fringe_contrast_threshold

Invoke this service to set the value of FringeContrastThreshold.

This service has one parameter:

• value (int32): the FringeContrastThreshold value to be set. The value range is 1-100.

Example: set the values of FringeContrastThreshold to 3

ros2 service call /set_fringe_contrast_threshold mecheye_ros_interface/srv/SetFringeContrastThreshold "{value: 3}"

set_fringe_min_threshold

Invoke this service to set the value of FringeMinThreshold.

This service has one parameter:

• value (int32): the FringeMinThreshold value to be set. The value range is 1-100.

Example: set the values of FringeMinThreshold to 3

ros2 service call /set_fringe_min_threshold mecheye_ros_interface/srv/SetFringeMinThreshold "{value: 3}"

set_laser_settings

Invoke this service to set the laser camera settings.

Note: This service is only available for a laser camera.

This service has five parameters:

• fringe_coding_mode (string): the LaserFringeCodingMode value to be set. Values include "Fast" and "Accurate".
• frame_range_start (int32): the frameRangeStart value to be set. The value range is 0-100.
• frame_range_end (int32): the frameRangeEnd value to be set. The value range is 0-100 (also must satisfy: frame_range_end - frame_range_start >= 25).
• frame_partition_count (int32): the framePartitionCount value to be set. The value range is 1-4.
• power_level (int32): the powerLevel value to be set. The value range is 20-100.

Example: set the values of the laser camera settings to "Fast", 20, 80, 2, and 60.

ros2 service call /set_laser_settings mecheye_ros_interface/srv/SetLaserSettings "{fringe_coding_mode: Fast, frame_range_start: 20, frame_range_end: 80, frame_partition_count: 2, power_level: 60}"

set_projector_anti_flicker_mode

Invoke this service to set the value of AntiFlickerMode.

Note: This service is only available for PRO (V4), PRO M (V4), NANO (V4), and Nano (V3).

This service has one parameter:

• value (string): the AntiFlickerMode value to be set. Values include "Off", "AC50Hz", and "AC60Hz".

Example: set the value of AntiFlickerMode to "Off"

ros2 service call /set_projector_anti_flicker_mode mecheye_ros_interface/srv/SetProjectorAntiFlickerMode "{value: 'Off'}"# The value "Off" must be surrounded with single quotation marks.

set_projector_fringe_coding_mode

Invoke this service to set the value of FringeCodingMode.

Note: This service is only available for PRO S (V4), PRO M (V4), Nano (V3), and Pro XS (V3).

This service has one parameter:

• value (string): the FringeCodingMode value to be set. Values include "Fast" and "Accurate".

Example: set the value of FringeCodingMode to "Accurate"

ros2 service call /set_projector_fringe_coding_mode mecheye_ros_interface/srv/SetProjectorFringeCodingMode "{value: Accurate}"

set_projector_power_level

Invoke this service to obtain the current powerLevel value.

Note: This service is only available for DLP cameras, excluding Deep (V3) and Pro L Enhanced (V3).

This service has one parameter:

• value (string): the powerLevel value to be set. Values include "Low", "Normal", and "High".

Example: set the value of powerLevel to "High"

ros2 service call /set_projector_power_level mecheye_ros_interface/srv/SetProjectorPowerLevel "{value: High}"

set_uhp_settings

Invoke this service to set the UHP camera settings.

This service has two parameters:

• capture_mode (string): the UhpCaptureMode value to be set. Values include "Camera1", "Camera2", and "Merge".
• fringe_coding_mode (string): the UhpFringeCodingMode value to be set. Values include "Fast" and "Accurate".

Example: set the UHP camera settings to "Merge" and "Accurage"

ros2 service call /set_uhp_settings mecheye_ros_interface/srv/SetUhpSettings "{capture_mode: Merge, fringe_coding_mode: Accurate}"

set_uhp_capture_mode

Invoke this service to set the value of UhpCaptureMode.

This service has one parameter:

• capture_mode (string): the UhpCaptureMode value to be set. Values include "Camera1", "Camera2", and "Merge".

Example: set the value of UhpCaptureMode to "Merge"

ros2 service call /set_uhp_capture_mode mecheye_ros_interface/srv/SetUhpCaptureMode "{capture_mode: Merge}"

set_uhp_fringe_coding_mode

Invoke this service to set the value of UhpFringeCodingMode.

This service has one parameter:

• fringe_coding_mode (string): the UhpFringeCodingMode value to be set. Values include "Fast" and "Accurate".

Example: set the value of UhpFringeCodingMode to "Accurate"

ros2 service call /set_uhp_fringe_coding_mode mecheye_ros_interface/srv/SetUhpFringeCodingMode "{value: Accurate}"