Added webcam.yaml file and intrinsics are now publishing

Signed-off-by: JesusSilvaUtrera <[email protected]>

andino_bringup/config/camera_intrinsics.yaml → andino_bringup/config/camera_params.yaml

@@ -2,4 +2,5 @@ v4l2_camera_node:
   ros__parameters:
     image_size: [640,480]
     camera_frame_id: "camera_link"
-# Other info for this Raspberry Pi Camera Module V2 can be found here: https://elinux.org/Rpi_Camera_Module#Technical_Parameters_.28v.2_board.29
+    camera_info_url: file:///home/jesus-silva/ws/src/andino/andino_bringup/config/webcam.yaml
+# Other info for this Raspberry Pi Camera Module V2 can be found here: https://elinux.org/Rpi_Camera_Module#Technical_Parameters_.28v.2_board.29

andino_bringup/config/webcam.yaml

@@ -0,0 +1,20 @@
+image_width: 640
+image_height: 480
+camera_name: hd_webcam:_hd_webcam # imposed by the hardware, there is no easy way to change this name
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [752.509200, 0.000000, 301.733582, 0.000000, 715.922468, 269.603484, 0.000000, 0.000000, 1.000000]
+distortion_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [-0.143335, 0.127413, -0.017265, 0.003433, 0.000000]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [737.296875, 0.000000, 302.288860, 0.000000, 0.000000, 706.384155, 265.509636, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]

andino_bringup/launch/camera.launch.py

@@ -38,19 +38,20 @@
 pkg_andino_bringup = get_package_share_directory('andino_bringup')
 
 def generate_launch_description():
-    # Declare launch argument for the path to the camera intrinsics YAML file
-    camera_intrinsics_file = DeclareLaunchArgument(
-        'camera_intrinsics_file',
-        default_value=join(pkg_andino_bringup, 'config', 'camera_intrinsics.yaml'),
+    # Declare launch argument for the path to the camera params YAML file
+    camera_params_file = DeclareLaunchArgument(
+        'camera_params_file',
+        default_value=join(pkg_andino_bringup, 'config', 'camera_params.yaml'),
         description='Path to camera intrinsics YAML file'
     )
 
     return LaunchDescription([
-        camera_intrinsics_file,
+        camera_params_file,
         Node(
             package='v4l2_camera',
             executable='v4l2_camera_node',
+            name='v4l2_camera_node',
             output='screen',
-            parameters=[LaunchConfiguration('camera_intrinsics_file')],
+            parameters=[LaunchConfiguration('camera_params_file')],
         )
     ])