Patrick, is your SR4k driver different than the one that I wrote some time ago ? (http://www.ros.org/browse/details.php?name=swissranger) If so, I would like to merge/deprecate that, provided that you will release yours as open source. Patrick Beeson wrote: > FYI, > > I have my own ROS node that combines cameradc1394 with the Player 1394 > driver. It works very reliably and depends on nothing but sensor_msgs > (I have to say that I do not like having to download the kitchen sink > just to get a simple hardware driver working, which is why I have my own > versions of Swissranger 4K driver, 1394 camera, etc.). > > Jack has been using it, along with a visualization tool I forked from > somewhere. I think I'll work with Jack to get this added to his ROS > repository, or start my own (I'm assuming a reliable Swissranger 4000 > driver would be of desire to someone out there). But, I should go ahead > and make it start using the image_transport package. So, it'll probably > be a few weeks before this shows up in the ROS package browse. > > > > > Jack O'Quin wrote: >> On Wed, Mar 10, 2010 at 9:29 AM, Rosen Diankov wrote: >>> I'm sorry you've been having so many problems with cameradc1394, >>> perhaps we can come up with a solution that will work well for you. >> Thanks, Rosen. >> >> I do not mean to come across as harshly critical of cameradc1394. I >> appreciate the work that has gone into it, and want to make it more >> accessible to users. We are trying to get undergraduates working >> productively with ROS vision components. Many of them are unfamiliar >> with both ROS and Linux. They will have a lot more trouble getting >> this working than I did. >> >>> - You say it seems to work but not easy to install? Typing 'rosmake >>> cameradc1394' should make and install everything for you, so are you >>> having trouble compiling things? >> I did get it to work. It just took me a couple of hours. See below... >> >>> - i think the libdc1394v2 package is for systems that do not have >>> libdc1394 version 2 installed, otherwise the library itself should be >>> stable. >> On a recent boxturtle ROS install, the rosmake will fail because >> cameradc1394 depends on libdc1394v2, which is no longer being >> distributed. So, users either have to edit your manifest.xml to remove >> that dependency (which is still needed on Ubuntu Hardy), or they have >> to find and install the SVN repository for the >> camera_drivers_experimental package (doable, but not trivial). >> >>> - cameradc1394 links the the ROS image libraries in order to >>> serialize/convert the message correctly, display the image, and >>> undistort it (radial distortion). You can disable the display >>> dynamically, so the the only other place where opencv would be used is >>> for undistortion and sending messages. Fortunately, both of these are >>> not that heavy on computation, so your system should handle it. >> I am not particularly worried about computational overhead. It's more >> a question of system design and consistency. >> >> The other ROS camera drivers do not depend on opencv2. There are >> higher-level packages, such as image_view for that sort of function. >> I'd prefer a simple DC1394 driver that behaves like the other ROS >> camera packages. That way people can work consistently with all those >> devices. >> >>> - i'm pretty sure the svn checkout command on sourceforge points to >>> the correct code: >>> svn co https://cmu-ros-pkg.svn.sourceforge.net/svnroot/cmu-ros-pkg cmu-ros-pkg >>> >>> The 'trunk' folder might be making things a little confusing for you, >>> therefore i recommend: >>> >>> svn co https://cmu-ros-pkg.svn.sourceforge.net/svnroot/cmu-ros-pkg/trunk >>> cmu-ros-pkg >> As you say, that is the correct URL for checkout. This error is >> currently not important, because you have no other branches (so far). >> But, you would not want users accidentally checking out *all* the >> branches instead of just the mainline version. When there is a stable >> version, they should check out branches/latest, instead, I suppose. >> >>> - There is a link on the ros.org camera_drivers webpage >>> (http://www.ros.org/wiki/camera_drivers) into the correct wiki >>> location where the cameradc1394 webpage is stored. I'm not sure why >>> you feel it is hard to locate..... >> It would be easier to find under http://ros.org/wiki/cameradc1394 >> (which does not exist). It was hard to find because the SourceForge >> page for cmu-ros-pkg does not point to it. I did eventually find a >> pointer to it at the bottom of http://ros.org/wiki/libdc1394v2 (which >> does exist). >> >>> - the README in the top source directory was old and contained nothing >>> useful, i just deleted it >> Good idea, thanks. >> >>> - I think you are the first person that has expressed dissatisfaction >>> with the way cameradc1394 is structured (no code reviews, etc), I've >>> tried to stick with the camera API willowgarage publishes as much as >>> possible. In the past year, it has been hard to keep up with it due to >>> many changes, but we're actively maintaining cameradc1394. For >>> example, I just noticed that the API requires a "set_camera_info" and >>> "request_image" services, which we will add as soon as we have time. >> I fully understand the difficulty of tracking rapidly changing >> interfaces in a complex system. That is why I favor better integration >> into the ROS development process. I believe a design review would >> have identified the inconsistencies between cameradc1394 and the other >> ROS camera drivers. >> >> A good review might have caught the set_camera_info change, as well. I >> have so far been unable to display 1394 camera images with rviz. That >> may be the reason. >> >>> If it makes a big difference for your team that the cameradc1394 >>> resided on WillowGarage's servers rather than sourceforge's, then I'm >>> sure WillowGarage would be happy to host it. >> I expect they would. I don't see the repo location as a problem right >> now (as long as the checkout URL is correct and up to date). >> >> I believe including good documentation into the ros.org wiki would >> make the package much more accessible to beginning users. I am willing >> to assist, if you feel that would be helpful. I don't know much about >> digital cameras, but I do know how to edit the wiki. :-) >> >> Regards, > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users -- | Radu Bogdan Rusu | http://rbrusu.com/