[ros-users] Bumblebee2 v1.0 release
sh2723 at columbia.edu
sh2723 at columbia.edu
Fri Jun 11 18:23:06 UTC 2010
Hi Renato,
It looks tricky because when I ran the commands which you did, it
successfully showed left and right images. According to your topic
list, the left and right image looks being published well. You may
confirm the published image by using $rostopic info or $rostopic echo.
If you upgrade src/dev_camera1394.cpp from other projects or packages,
bumblebee2 won't be working because I also modified dev_camera1394.cpp
for bumblebee2.
Additionally, I can doubt there is some problem in version of ROS or
relative stacks or libraries. I used ROS 1.0.3 on the Ubuntu hardy and
libdc1394.so.22.
Best,
Soonhac
Quoting Renato Samperio <mintaka_alnitak at hotmail.com>:
>
> Dear Soonhac Hong,
>
> Thanks for your fast reply.
>
> My rostopic list is:
>
> $ rostopic list
> /bumblebee2/left/camera_info
> /bumblebee2/left/image_raw
> /bumblebee2/left/image_raw/compressed
> /bumblebee2/left/image_raw/theora
> /bumblebee2/parameter_descriptions
> /bumblebee2/parameter_updates
> /bumblebee2/right/camera_info
> /bumblebee2/right/image_raw
> /bumblebee2/right/image_raw/compressed
> /bumblebee2/right/image_raw/theora
> /clock
> /rosout
> /rosout_agg
> /time
>
> After updating the src/dev_camera1394.cpp, when I use the operable
> modes in Coriander:
>
> 1) DC1394_VIDEO_MODE_1024x768_YUV422 --> Left window presents lot of
> B&W images and Right window a colour image from right camera.
> 2) DC1394_VIDEO_MODE_1024x768_MONO8 --> Left and Right windows
> present black and white image only from right camera.
>
> The other modes show an "Exception opening device: Failed to open device".
>
> Also, by using Triclops3.2.0.8-FC3, I could test the camera and
> obtained a right,left, disparity and rectified image, even it is
> not related to the bumblebee2 node.
>
> Kind regards,
>
> Renato Samperio.
>
>
> From: sh2723 at columbia.edu
> To: ros-users at code.ros.org
> Date: Thu, 10 Jun 2010 13:03:26 -0400
> CC: ros-users at code.ros.org
> Subject: Re: [ros-users] Bumblebee2 v1.0 release
>
> Hi Renato,
> Could you give me the rostopic list after running bumblebee2?
>
> Best,
> Soonhac Hong
> On Jun 10, 2010, at 12:22 PM, Renato Samperio
> <mintaka_alnitak at hotmail.com> wrote:
>
>
> 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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