[ros-users] Weird issues with camera1394

[Eric Perko]

Miguel,

What settings are you using when viewing the image in coriander? You
should try to copy those over when using  camera1394. For example,
does the camera send images in a bayer encoding or RGB? Also, what ISO
speed are you attempting to set in your launch file that it is
claiming is unsupported? My advice would be to play with settings in
coriander and then attempt to explicitly set the correct values as
parameters to camera1394 (or try different settings at runtime with
dynamic_reconfigure's GUI).

See http://github.com/ericperko/cwrucam/tree/master/cwrucam_vision/
for a launch file I used to successfully run a Point Grey Research
firewire camera after finding proper bayer and speed settings with
coriander, if you want to take a look at a non-sample launch file.

As far as the r/w permissions on /dev/*1394*, I also end up doing the
same thing to use my cameras. Basically, whatever user is running the
code needs r/w permissions and, by default, Ubuntu doesn't give all
users permissions on Firewire devices.

- Eric

On Wed, May 26, 2010 at 10:28 AM, Miguel Prada
<miguel.register at gmail.com> wrote:
> Hi,
>
> I'm trying to replace a usb webcam I'm using for a firewire Unibrain Fire-i camera, but I'm having some trouble using it with ROS. There are two issues I honestly don't know how to deal with.
>
>
> 1- If I run camera1394_node using 'rosrun camera1394 camera1394_node' the camera seems to work, but when I try to visualize the images published on /camera/image_raw topic using image_view the image that shows is completely messed up. However, when I visualize the camera output with coriander it looks perfect. Check the images linked below to see what I mean.
>
> camera1394->image_view: http://www.flickr.com/photos/migueluli/4641459303/in/set-72157624016324875/
> Coriander:                                      http://www.flickr.com/photos/migueluli/4641459171/in/set-72157624016324875/
>
>
> 2- If I use roslaunch instead of rosrun I'm unable to start the camera. I've tried to look at the two launch files found in camera1394 package, as well as the camera configuration yaml files, but I can't think of anything inside those that may cause this problems. For the output I get (pasted below), it looks like it has something to do with not being able to set the appropriate iso level on the camera, but I find it strange that the same doesn't happen when using rosrun.
>
>
> One last thing that might be related. I have to give read and write permisions to /dev/raw1394 and /dev/video1394/0 for all users in order to make any of the above stated work at all.
>
> Has anyone experienced similar problems? If so, have you fixed it? And how?
>
> Cheers,
> Miguel.
>
>
>
> FATRONIK\mprada at pcf-264-0209l:~$ roslaunch camera1394 firewire_camera.launch
> ... logging to /home/FATRONIK/mprada/.ros/log/06ae162e-68c7-11df-aef6-00219be9ec9c/roslaunch-pcf-264-0209l-9962.log
>
> started roslaunch server http://pcf-264-0209l:56076/
>
> SUMMARY
> ========
>
> PARAMETERS
>  * /unibrain/camera1394_node/camera_info_url
>  * /unibrain/camera1394_node/guid
>  * /unibrain/camera1394_node/video_mode
>
> NODES
>  /unibrain/
>    camera1394_node (camera1394/camera1394_node)
>
> ROS_MASTER_URI=http://pcf-264-0209l:11311/
>
> core service [/rosout] found
> process[camera1394_node-1]: started with pid [9980]
> [ERROR] 1274883021.997175000: Unsupported iso_speed. Defaulting to 400.
> libdc1394 error: Error: Failed to setup DMA capture
> [FATAL] 1274883022.005991000: [camera] exception opening device: [Camera1394::open]: Failed to open device!
>
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