[ros-users] Bumblebee2 v1.0 release

Renato Samperio mintaka_alnitak at hotmail.com
Thu Jun 10 16:22:53 UTC 2010


Dear Soonhac Hong,

I am unable to see images from the bumblebee2 package. Our camera is a bumblebee2 BB2-08S2C 3.8 mm. For running the node, I use the commands:

$ roslaunch bumblebee2 Bumblebee2.launch
$ rosrun image_view image_view image:=/bumblebee2/left/image_raw
$ rosrun image_view image_view image:=/bumblebee2/right/image_raw

After executed, I get a couple of windows to the "image_raw" service with a gray screen and without any image. By using Coriander I could see that the mode DC1394_VIDEO_MODE_640x480_MONO16 that you added is not active. Then, I have updated the src/dev_camera1394.cpp with the modes that appear available on my Coriander (without "Format_X, ModeY:" label):

Format_1, Mode3: DC1394_VIDEO_MODE_1024x768_YUV422
Format_1, Mode4: DC1394_VIDEO_MODE_1024x768_RGB8
Format_1, Mode5: DC1394_VIDEO_MODE_1024x768_MONO8

Format_1, Mode7: DC1394_VIDEO_MODE_1024x768_MONO16
Format_7, Mode0: DC1394_VIDEO_MODE_FORMAT7_0     --> This mode shows images from right camera
Format_7, Mode3: DC1394_VIDEO_MODE_FORMAT7_3     --> This mode shows images from left camera

If I test with DC1394_VIDEO_MODE_1024x768_MONO16 I still do not get images on right and left of the "image_raw" services.

Do you know how could I obtain right and left images?

Kind regards,

Renato Samperio.

From: sh2723 at columbia.edu
To: ros-users at code.ros.org
Date: Tue, 8 Jun 2010 15:17:08 -0400
CC: ros-users at code.ros.org
Subject: Re: [ros-users] Bumblebee2 v1.0 release

Hi Renato,
Sure, you need both camera_info_manager and libdc1394v2. You may see the repository of those package in Roswiki/software.  
Best,
Soonhac Hong
On Jun 8, 2010, at 1:46 PM, Renato Samperio <mintaka_alnitak at hotmail.com> wrote:


Dear Soonhac Hong,

I have been unsuccessfully trying to use the package bumblebee2. 


The first problem I had was that package camera_info_manager was not found. I obtained the error:



...

{-------------------------------------------------------------------------------

  mkdir -p bin

  cd build && cmake -Wdev -DCMAKE_TOOLCHAIN_FILE=`rospack find rosbuild`/rostoolchain.cmake  ..

  [rosbuild] Building package bumblebee2

  Failed to invoke /opt/ros/boxturtle/ros/bin/rospack deps-manifests bumblebee2

  [rospack] couldn't find dependency [camera_info_manager] of [bumblebee2]

  [rospack] missing dependency

  

  

  CMake Error at /opt/ros/boxturtle/ros/core/rosbuild/public.cmake:113 (message):

    

  

    Failed to invoke rospack to get compile flags for package 'bumblebee2'.

    Look above for errors from rospack itself.  Aborting.  Please fix the

    broken dependency!

  

  Call Stack (most recent call first):

    /opt/ros/boxturtle/ros/core/rosbuild/public.cmake:162 (rosbuild_invoke_rospack)

    CMakeLists.txt:12 (rosbuild_init)

  

  

  -- Configuring incomplete, errors occurred!

-------------------------------------------------------------------------------}

...

I have to install it from svn in camera_drivers path:
$ svn co https://code.ros.org/svn/ros-pkg/stacks/camera_drivers/trunk/camera_info_manager

1) Is this a correct form of proceding?

Afterwards, it is required the package "libdc1394v2":
$ rosdep install bumblebee2
Failed to find stack for package [libdc1394v2]
Failed to load rosdep.yaml for package [libdc1394v2]:Cannot locate installation of package libdc1394v2: [rospack] couldn't find package [libdc1394v2]. ROS_ROOT[/opt/ros/boxturtle/ros] ROS_PACKAGE_PATH[/opt/ros/boxturtle/stacks]
Failed to find stack for package [camera_info_manager]
Failed to load rosdep.yaml for package [camera_info_manager]:Cannot locate installation of package camera_info_manager: [rospack] couldn't find package [camera_info_manager]. ROS_ROOT[/opt/ros/boxturtle/ros] ROS_PACKAGE_PATH[/opt/ros/boxturtle/stacks]
executing this script:
 set -o errexit
#No Packages to install

I found it with a "roslocate":
$ roslocate svn libdc1394v2
https://code.ros.org/svn/ros-pkg/trunk/stacks/camera_drivers_experimental/libdc1394v2

2) Do I need to install camera_drivers_experimental?

I have a clean boxturtle installtion.

Kind regards,


Renato Samperio.

From: abachrach at gmail.com
Date: Tue, 8 Jun 2010 11:55:11 -0400
To: ros-users at code.ros.org
Subject: Re: [ros-users] Bumblebee2 v1.0 release

when I plug in the bumblebee, there are BOTH /dev/raw1394 and /dev/video1394/0

I changed the permissions on both of them such that i have the proper permissions (I can get images off the camera using coriander, and another software package)



from digging down a little more, it seems like the driver gets stuck in the call to:
dc1394_capture_dequeue (camera_, DC1394_CAPTURE_POLICY_WAIT, &frame);
inside of the function
void Camera1394::readData(sensor_msgs::Image& image)


in dev_camera1394.cpp

the call to dc1394_capture_dequeue just never returns.

thanks!
-=Abe

On Tue, Jun 8, 2010 at 10:17 AM, Soonhac Hong <sh2723 at columbia.edu> wrote:


Hi Abe,
Could you check if there is /dev/raw1394 or /dev/video1394? When I pluged bumblebee2 into ubuntu hardy, raw1394 didn't exist. Thus, I used other pointgray 1394 camera for /dev/raw1394 before pluging bumblebee2. If you have a permission problem, you may use chmod. Additionally, you may check published images by using $rostopic list.


Best,  
Soonhac Hong
On Jun 8, 2010, at 1:02 AM, Abe Bachrach <abachrac at mit.edu> wrote:



Hi Sonnhac,Thanks for putting together the bumblebee2 plugin.
Unforutnately I've been unable to get it to publish images with my bumblee camera...


everything compiled fine, and seems to be working, however no images are published on the image channels:


when I launch the driver, the LED on the bumblee goes bright, and i get the following output:




abachrac at pinzolo:~/ros/pkgs/bumblebee2$ roslaunch bumblebee2 Bumblebee2.launch... logging to /home/abachrac/.ros/log/3287496e-72b8-11df-97ed-00219b1e7836/roslaunch-pinzolo-5748.log




started roslaunch server http://pinzolo:52475/
SUMMARY========
PARAMETERS * /bumblebee2/bayer_pattern


 * /bumblebee2/video_mode
 * /bumblebee2/gain * /bumblebee2/shutter * /bumblebee2/whitebalance * /bumblebee2/brightness * /bumblebee2/fps * /bumblebee2/bayer_method




NODES  /    bumblebee2 (bumblebee2/bumblebee2)
ROS_MASTER_URI=http://pinzolo:11311/
core service [/rosout] found



process[bumblebee2-1]: started with pid [5767][ INFO] [1275972976.842327391]: Reconfigure request: brightness -1, encoding , exposure -1, gain -1, shutter -1, whitebalance auto[ INFO] [1275972976.842409323]: reconfigure level = 4294967295



[ INFO] [1275972976.849244447]: [camera] video mode: 640x480_stereo_mono, frame ID: /camera[ INFO] [1275972977.014397825]: Found camera with GUID b09d010060d173

[ INFO] [1275972977.014474607]: No guid specified, using first camera found, GUID: b09d010060d173



[ INFO] [1275972977.020052503]: [camera] connected to device, ID: 00b09d010060d173

[ INFO] [1275972977.024681309]: [camera] Auto Brightness set

[ INFO] [1275972977.029742081]: [camera] Auto Exposure set



[ INFO] [1275972977.031864626]: [camera] Auto Gain set

[ INFO] [1275972977.033989724]: [camera] Auto Shutter set

[ INFO] [1275972977.036315836]: [camera] Auto Whitebalance set

[ INFO] [1275972977.038513379]: [camera] Encoding set to 





But then nothing happens...
any ideas?-=Abe 
On Thu, May 20, 2010 at 11:10 AM,  <sh2723 at columbia.edu> wrote:




Hi All,



I'd like to release Bumblebee2 v1.0 at

http://code.google.com/p/cu-ros-pkg/. If there is any doubt or

problems, feel free to contact me.



Best,

Soonhac Hong

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