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optris_and_imagingsource.md

admin 1月 29, 2021 0

Environment: in Ubuntu16.04, with ROS(kinetic). GCC>=5(for Optris) and cmake >=3(for tiscamera).
You can use this commands to check it:

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cmake --version
gcc --version

RGB-tiscamera

installation

Follow the tutorial on this Github page of tiscamera to build core modules.
And use this command to test whether the installation was successful:

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gst-launch-1.0 tcambin ! videoconvert ! autovideosink

Then goto wiki of tiscamera. Follow the tutorial to get serial number and update the firmware.
Finally follow the tutorial on example of ROS.
Remember to change the serial number and resolution in ‘tis_rosstarter’

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cam = tiscamera.Camera("17719924", 1920, 1080, 30, True, False)

Tips: Our serial number of tiscamera is 30714360.
This error may occur:

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[Fatal] no element "shmsrc"

You can solve this problem by this commands: ?

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sudo apt-get install gstreamer0.10-plugins-good v4l-utils

Usage

After roscore and adjust /tiscamera/example/ROS/tis_rosstarter, run:

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./tis_rosstarter

Then you can change the trigger mode or exposure time and so on. X should be changed according to your machine.

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v4l2-ctl -d /dev/videoX --all      //all parameters
v4l2-ctl -d /dev/videoX -l       //list parameters can be changed
v4l2-ctl -d /dev/videoX -c exposure_absolute=100     //change the exporsure time
v4l2-ctl -d /dev/videoX -c privacy=1                    //0-unable trigger 1-enable

Now you finally can get the rostopic:

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/camera/image_raw

Optris

installation

Firstly you should download the libirimage.deb from evocortex.
Then goto Getting started to install and learn knowledge about SDK. Or just jump to installtion.
Follow the tutorials to get the serial number and ir_find_serial.xml.
Now git clone the ros drivers from optris_drivers. Remember to change “serial_nr” default=””, and replace config/number.xml**
Tips: Our serial number is 17071004.

Usage

Now you can run

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catkin_make
roslaunch optris_drivers optris_drivers.launch

Now you finally can get the rostopic:

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/optris/thermal_image

IMU

installation
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git clone [email protected]:ethz-asl/ethzasl_xsens_driver.git 
cd ../
catkin_make
Usage
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sudo chmod 777 /dev/ttyUSB0
roslaunch xsens_driver xsens_driver.launch

Other

optitrack:

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roslaunch mocap_optitrack mocap.launch

rosbag:

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//all we need 
rosbag record /camera/image_raw /optris/thermal_image  /imu/data /Robot_1/ground_pose /Robot_2/ground_pose /Robot_3/ground_pose /Robot_1/pose /Robot_2/pose /Robot_3/pose
 
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//test trigger
rosbag record /camera/image_raw /optris/thermal_image /chatter

ardunio:

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sudo chmod 777 /dev/ttyACM0
rosrun rosserial_python serial_node.py /dev/ttyACM0
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