uas arm modifications

Author: mithundiddi

CMakeLists.txt

@@ -32,7 +32,7 @@ find_package(catkin REQUIRED COMPONENTS
 ###
 # Find Packages
 find_package(OpenCV REQUIRED)
-find_package(LibUnwind REQUIRED)
+#find_package(LibUnwind REQUIRED)
 
 find_package(Boost REQUIRED)
 if(Boost_FOUND)
@@ -60,7 +60,7 @@ generate_messages(
 catkin_package(
   INCLUDE_DIRS include
   CATKIN_DEPENDS roscpp std_msgs message_runtime
-  DEPENDS OpenCV LibUnwind
+  DEPENDS OpenCV #LibUnwind
 )
 
 include_directories(
@@ -69,12 +69,12 @@ include_directories(
   ${SPINNAKER_INCLUDE_DIR}
   ${OpenCV_INCLUDE_DIRS}
   ${Boost_INCLUDE_DIR}
-  ${LibUnwind_INCLUDE_DIRS}
+  #${LibUnwind_INCLUDE_DIRS}
 )
 
 link_directories( ${SPINNAKER_LIB_DIR} )
 
-set (LIBS ${LibUnwind_LIBRARIES} Spinnaker ${OpenCV_LIBS} ${Boost_GENERAL})
+set (LIBS Spinnaker ${OpenCV_LIBS} ${Boost_GENERAL})
 
 add_library (acquilib SHARED
   src/capture.cpp

launch/acquisition.launch

@@ -1,9 +1,12 @@
 <launch>
   <!-- configure console output verbosity mode:debug_console.conf or std_console.conf -->
-  <env name="ROSCONSOLE_CONFIG_FILE" value="$(find spinnaker_sdk_camera_driver)/cfg/debug_console.conf"/>
+  <env name="ROSCONSOLE_CONFIG_FILE" value="$(find spinnaker_sdk_camera_driver)/cfg/std_console.conf"/>
 
   <!-- acquisition.lauynch -->
-  <arg name="binning"           default="1" doc="Binning for cameras, when changing from 2 to 1 cameras need to be unplugged and replugged"/>
+  <arg name="launch_prefix" default="" /> 
+  <!-- set to value="gdbserver localhost:10000" for remote debugging -->
+  <!-- for gdb which needs to be run by pressing R, 'xterm -e gdb with two - args ' -->
+  <arg name="binning"           default="2" doc="Binning for cameras, when changing from 2 to 1 cameras need to be unplugged and replugged"/>
   <arg name="color"             default="false"  doc="Should color images be used (only works on models that support color images)"/>
   <arg name="exp"               default="0" doc="Exposure setting for cameras"/>
   <arg name="frames"            default="3400"  doc="Numer of frames to save/view 0=ON"/>
@@ -21,8 +24,7 @@
   <arg name="config_file"       default="$(find spinnaker_sdk_camera_driver)/params/test_params.yaml" doc="File specifying the parameters of the camera_array"/>
 
   <!-- load the acquisition node -->
-  <node pkg="spinnaker_sdk_camera_driver" type="acquisition_node" name="acquisition_node" output="$(arg output)"
-  args="">
+  <node pkg="spinnaker_sdk_camera_driver" type="acquisition_node" name="acquisition_node" output="$(arg output)" launch-prefix="$(arg launch_prefix)" args="">
 
     <!-- load the acquisition node parameters file.  Note any parameters provided in this file will 
    override what is in the yaml file.  Thus use it to set parameters camer_array configuration params -->
@@ -47,4 +49,4 @@
 
   </node>    
 
-</launch>
+</launch>

params/test_params.yaml

@@ -1,28 +1,26 @@
 cam_ids:
-- 17197557
+- 17197556
 cam_aliases:
 - cam0
-master_cam: 17197557
-skip: 20
-delay: 1.0
+master_cam: 17197556
+skip: 5
+delay: 0
+
+#Camera info message details
+distortion_model: plumb_bob
+distortion_coeffs:
+- [-0.17465, 0.03501, 0.00064, -0.00036]
+#specified as [fx  0 cx 0 fy cy 0  0  1]
+intrinsic_coeffs:
+- [638.71023, 0.0, 315.25919, 0.0, 641.21041, 248.26077, 0.0, 0.0, 1.0]
 
 # Assign all the follwing via launch file to prevent confusion and conflict
 
 #save_path: ~/projects/data
 #save_type: .bmp #binary or .tiff or .bmp
 #binning: 1 # going from 2 to 1 requires cameras to be unplugged and replugged
-#color: false
+color: false
 #frames: 50
 #soft_framerate: 4 # this frame rate reflects to the software frame rate set using ros::rate
 #exp: 997
 #to_ros: true  #When to_ros is not selected, but live is selected, pressing 'space' exports single image to ROS
-
-#Camera info message details
-distortion_model: plumb_bob
-distortion_coeffs:
-- [-0.021141875266089592, -0.3733872931278025, 2.385982550579459, 3.2824571732099725]
-#- [-0.021141875266089592, -0.3733872931278025, 2.385982550579459, 3.2824571732099725]
-#specified as [fx  0 cx 0 fy cy 0  0  1]
-intrinsic_coeffs:
-- [1886.9232141485886, 0.0, 604.7214878709341, 0.0, 1886.6668765711668, 493.47726714719823, 0.0, 0.0, 1.0]
-#- [1886.9232141485886, 0.0, 604.7214878709341, 0.0, 1886.6668765711668, 493.47726714719823, 0.0, 0.0, 1.0]