Added raspicam.yaml with camera intrinsics and updated instructions i…

…n andino_hardware/README

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

andino_bringup/config/camera_params.yaml

@@ -2,5 +2,5 @@ v4l2_camera_node:
   ros__parameters:
     image_size: [640,480]
     camera_frame_id: "camera_link"
-    camera_info_url: file:///home/jesus-silva/ws/src/andino/andino_bringup/config/webcam.yaml
+    camera_info_url: file:///home/jesus-silva/ws/src/andino/andino_bringup/config/raspicam.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/raspicam.yaml

@@ -0,0 +1,27 @@
+image_width: 640
+image_height: 480
+# camera_name: narrow_stereo
+camera_name: hd_webcam:_hd_webcam
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [502.10979,   0.     , 315.89371,
+           0.     , 499.35622, 233.15895,
+           0.     ,   0.     ,   1.     ]
+distortion_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [0.150091, -0.263342, 0.002136, -0.004508, 0.000000]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [1., 0., 0.,
+         0., 1., 0.,
+         0., 0., 1.]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [510.31363,   0.     , 312.43595,   0.     ,
+           0.     , 510.29425, 233.43648,   0.     ,
+           0.     ,   0.     ,   1.     ,   0.     ]

andino_hardware/README.md

@@ -144,6 +144,33 @@ Check camera status:
 vcgencmd get_camera
 ```
 
+If the output of the previous command is `supported=1 detected=1', everything is fine. If not, your camera won't work correctly, you need to perform some configuration first.
+
+Modify the `config.txt` file for the boot:
+
+```sh
+ sudo nano /boot/firmware/config.txt
+```
+
+And add these lines:
+
+```
+# Autoload overlays for any recognized cameras or displays that are attached
+# to the CSI/DSI ports. Please note this is for libcamera support, *not* for
+# the legacy camera stack
+start_x=1
+gpu_mem=128
+```
+
+Save and close the file. Then we need to enable the camera support for the raspberry:
+
+```sh
+sudo raspi-config
+```
+
+Go to `Interface Options`, select `camera` and enable it.
+
+Finally, you just need to reboot and the camera should be working fine.
 
 #### RPLidar installation