Hello ROS fans,
I am trying the uvc_camera package (current git version) for the first
time with a Logitech 9000 webcam and it appears that the width/height
parameters I am setting in the launch file (see listing below) are not
being published on the /camera_info topic which just show 0 for both.
The /camera_info messages are definitely updating as evidenced by the
incrementing seq numbers and time stamps. And the /image_raw topic is
working as I can verify using image_view.
I am using the latest C Turtle debian packages on Ubuntu 10.04.
When I execute my launch file, I get the following error at the end of
the list of camera properties:
unable to set control: Input/output error
ERROR: could not set some settings.
unable to set control
select timeout in grab
Note that my user name is part of the video group and just to be sure, I
set permissions on /dev/video3 (the Logitech webcam) to 777.
I get the same error if I try a Philips SPC1300 USB cam or the built-in
USB cam on my laptop. The launch file I am using is:
<launch>
<node pkg="uvc_camera" type="camera_node" name="uvc_camera"
output="screen">
<param name="width" type="int" value="640" />
<param name="height" type="int" value="480" />
<param name="frame" type="string" value="head_camera" />
<param name="device" type="string" value="/dev/video3" />
</node>
</launch>
A typical message from 'rostopic echo /camera_info' looks like this:
header:
seq: 2323
stamp:
secs: 1292712061
nsecs: 161250408
frame_id: camera
height: 0
width: 0
roi:
x_offset: 0
y_offset: 0
height: 0
width: 0
D: [0.0, 0.0, 0.0, 0.0, 0.0]
K: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
R: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
P: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
where I would have expected height: 480 and width: 640 instead of 0.
And the full output from the launch file looks like this for the
Logitech camera:
process[uvc_camera-1]: started with pid [6511]
opening /dev/video3
pixfmt 0 = 'MJPG' desc = 'MJPEG'
discrete: 160x120: 1/30 1/25 1/20 1/15 1/10 1/5
discrete: 176x144: 1/30 1/25 1/20 1/15 1/10 1/5
discrete: 320x240: 1/30 1/25 1/20 1/15 1/10 1/5
discrete: 352x288: 1/30 1/25 1/20 1/15 1/10 1/5
discrete: 640x480: 1/30 1/25 1/20 1/15 1/10 1/5
discrete: 800x600: 1/30 1/25 1/20 1/15 1/10 1/5
discrete: 960x720: 1/15 1/10 1/5
pixfmt 1 = 'YUYV' desc = 'YUV 4:2:2 (YUYV)'
discrete: 160x120: 1/30 1/25 1/20 1/15 1/10 1/5
discrete: 176x144: 1/30 1/25 1/20 1/15 1/10 1/5
discrete: 320x240: 1/30 1/25 1/20 1/15 1/10 1/5
discrete: 352x288: 1/30 1/25 1/20 1/15 1/10 1/5
discrete: 640x480: 1/30 1/25 1/20 1/15 1/10 1/5
discrete: 800x600: 1/25 1/20 1/15 1/10 1/5
discrete: 960x720: 1/10 1/5
discrete: 1600x1200: 1/5
int (Brightness, 0, id = 980900): 0 to 255 (1)
int (Contrast, 0, id = 980901): 0 to 255 (1)
int (Saturation, 0, id = 980902): 0 to 255 (1)
bool (White Balance Temperature, Auto, 0, id = 98090c): 0 to 1 (1)
int (Gain, 0, id = 980913): 0 to 255 (1)
menu (Power Line Frequency, 0, id = 980918): 0 to 2 (1)
0: Disabled
1: 50 Hz
2: 60 Hz
int (White Balance Temperature, 0, id = 98091a): 0 to 10000 (10)
int (Sharpness, 0, id = 98091b): 0 to 255 (1)
int (Backlight Compensation, 0, id = 98091c): 0 to 2 (1)
menu (Exposure, Auto, 0, id = 9a0901): 0 to 3 (1)
0: Auto Mode
1: Manual Mode
2: Shutter Priority Mode
3: Aperture Priority Mode
int (Exposure (Absolute), 0, id = 9a0902): 1 to 10000 (1)
bool (Exposure, Auto Priority, 0, id = 9a0903): 0 to 1 (1)
current value of 10094851 is 1
current value of 10094849 is 1
current value of 9963776 is 128
current value of 9963777 is 32
current value of 9963788 is 1
current value of 9963802 is 0
unable to set control: Input/output error
ERROR: could not set some settings.
unable to set control
select timeout in grab
select timeout in grab
select timeout in grab
Patrick Goebel
Behavioral Sciences
Stanford University
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