[ros-users] camera1394 and swissranger
Radu Bogdan Rusu
rusu at willowgarage.com
Tue Apr 6 15:19:21 UTC 2010
Patrick,
You could just comment out the "(inr_ < SR_IMAGES)" and that should work. The 3000 model only outputs 2 images, while
the 4000 outputs 3. Additionally you could just check the camera type (there's a string that you can parse). In my code
I was checking inr_ < 1, as that was definitely an error :)
Cheers,
Radu.
Patrick Beeson wrote:
> Dejan,
>
> Now that you have the new libmesa drivers installed, try running
> /usr/bin/libMesaSRTester. Choose Basic test, then 'scan', and it should
> find your device and let you press '2' to choose it and test it. If it
> doesn't work due to permissions not being set right, you can try running
> it using 'sudo'
>
> If it doesn't find your camera, then I'd suggest manually downloading
> the Beta libmesa .deb from the web and installing that instead of the
> .deb that gets manually installed by my program. Running
> libMesaSRTester successfully is a prerequisite to having my driver work,
> and will often flash the firmware to get the device in a state to talk
> to the new API.
>
> Also , the install of the libmesa drivers added a udev rule in
> /etc/udev/rules.d/46-mesa.rules. Unfortunately, Mesa decided to make
> the device have group usb. You can edit that file to change it to group
> plugdev (then sudo /etc/init.d/udev restart). Unplug and plug the usb,
> and it should work without having to fiddle with permissions every time.
>
> If all that works, try again. If you get the same problems with my
> software, read below...........
>
> It looks like for some reason, the sr4k is ignoring the CONF_MAP flag to
> return confidences. A quick solution you can try is to simply go into
> the header and change SR_IMAGES to 2. I was going to make this stuff
> into runtime configuration in the future, but of course when I don't
> have an sr3k to work with it makes large development changes problematic.
>
> Perhaps the first change above along with getting a license file (I
> didn't have to do this with the sr4k, but I'm assuming this might be a
> common practice with the sr3k users) might allow this to work? Please
> try it and let me know if it still is receiving 4 1x1 images.
>
> If so, it might be worth downloading the older 'swissranger' ros node,
> which uses the old libusb driver Mesa which can be found on their
> download site in the drivers archive. If that works, then I'll have to
> compare the source code between the two nodes -- they are already VERY
> similar.
>
>
>
>
>
>
> Dejan Pangercic wrote:
>> Hi Patrick,
>> I finally got to test the driver with a SR3K device on a 64bit machine
>> running Ubuntu 9.10.
>> I could not get it pass following structure in dev_sr4k.cpp file:
>> "
>> if ( (cols_ != SR_COLS) || (rows_ != SR_ROWS) ||
>> (inr_ < SR_IMAGES) || (imgEntryArray_ == 0) )
>> {
>> SafeCleanup();
>> SR_EXCEPT_ARGS(sr4k::Exception,
>> "Invalid data images: %d %dx%d images received
>> from camera!\n Expected %d %dx%d images.",
>> inr_, cols_, rows_, SR_IMAGES, SR_COLS, SR_ROWS);
>> return (-1);
>> }
>> "
>>
>> After running the "roslaunch launch/sr4k.launch" command it outputs
>> the following exception:
>> "
>> [ INFO] [1270556935.964286581]: [SwissRanger device::open] Number of
>> images available: 2
>> [ERROR] [1270556935.964498968]: Exception thrown while connecting to the camera:
>> [SR4K::open]: Invalid data images: 2 176x144 images received from camera!
>> Expected 3 176x144 image
>> "
>> And after running the command again then this one (funnily this
>> behavior then keeps going on this alternative way):
>> "
>> libMesaSR:libMesaSR:camera config file has no licence Information!
>>
>> libMesaSR:libMesaSR:CMesaDevice::Read:usb_bulk_read failed!
>> Request:0xb0 RequestType:0x40 Requested Size: 64 Received
>> Size(Result): -110
>>
>> libMesaSR:libMesaSR:CMesaDevice::Read: did not get requested bytes: 64<->0
>>
>> libMesaSR:libMesaSR:CMesaDevice::Read:usb_bulk_read failed!
>> Request:0xb0 RequestType:0x40 Requested Size: 64 Received
>> Size(Result): -110
>>
>> libMesaSR:libMesaSR:CMesaDevice::Read: did not get requested bytes: 64<->0
>>
>> libMesaSR:libMesaSR:CMesaDevice::Read:usb_bulk_read failed!
>> Request:0xb0 RequestType:0x40 Requested Size: 64 Received
>> Size(Result): -110
>>
>> libMesaSR:libMesaSR:CMesaDevice::Read: did not get requested bytes: 64<->0
>>
>> [ INFO] [1270556651.295522746]: [SwissRanger device::open] Number of
>> images available: 4
>> [ERROR] [1270556651.295721863]: Exception thrown while connecting to the camera:
>> [SR4K::open]: Invalid data images: 4 1x1 images received from camera!
>> Expected 3 176x144 images.
>> "
>> It looks like "SR_GetImageList" function is not doing what it is supposed to...
>>
>>
>> Furthermore I had some problems opening the device node at the
>> beginning since on my machine (default ubuntu setting) all the nodes
>> in /dev/bus/usb/ are owned by root user and root group. The remedy for
>> that was to first find the bus and the device number and second to put
>> the node in the plugdev group: "sudo chown root:plugdev
>> /dev/bus/usb/bus_nr/device_nr".
>>
>> Lastly, at the first run I got the following warning:
>> "
>> Please download manually the file
>> www.mesa-imaging.ch/customer/calibData/camData00019e13.xml and save it
>> to /usr/share/libmesasr/camData00019e13.xml
>> libMesaSR:libMesaSR:can not parse camera config file
>> '/usr/share/libmesasr/camData00019e13.xml'!
>> "
>> Following the hint got me rid of the warning.
>>
>> Hope this report helps a bit,
>> cheers, D.
>>
>> On Wed, Mar 31, 2010 at 5:57 PM, Patrick Beeson <beeson.p at gmail.com> wrote:
>>> I have added a new sr4k package to the camera_drivers_experimental
>>> stack. This extends the swissranger package in the tum repository to
>>> handle the newer Mesa Imaging libraries, and supports both SR3000 and
>>> SR4000 devices.
>>>
>>> I do not have an SR3K device, so I could only test with an SR4K, but the
>>> API is the same for both (an early calls tells the Mesa libraries which
>>> device you want to talk to and differences are handles at the Mesa
>>> library level).
>>>
>>> I have not yet included a standalone viewer, but users can view the
>>> output in rviz. The current frame id is the node name (defaults to
>>> /sr4k). The user can view Image and PointCloud types. There are 3 2D
>>> images, distance, intensity, and confidence.
>>>
>>> Patrick Beeson
>>>
>>> _______________________________________________
>>> ros-users mailing list
>>> ros-users at code.ros.org
>>> https://code.ros.org/mailman/listinfo/ros-users
>>>
>>
>>
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| Radu Bogdan Rusu | http://rbrusu.com/
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