Jesus/#169 camera info yaml

andino_bringup/config/camera_params.yaml

@@ -0,0 +1,6 @@
+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/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_bringup/launch/camera.launch.py

@@ -30,17 +30,28 @@
 
 from launch import LaunchDescription
 from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from ament_index_python.packages import get_package_share_directory
+from os.path import join
+
+pkg_andino_bringup = get_package_share_directory('andino_bringup')
 
 def generate_launch_description():
-    return LaunchDescription([
+    # 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_params_file,
         Node(
             package='v4l2_camera',
             executable='v4l2_camera_node',
+            name='v4l2_camera_node',
             output='screen',
-            parameters=[{
-                'image_size': [640,480],
-                'camera_frame_id': 'camera_link'
-                }]
-    )
+            parameters=[LaunchConfiguration('camera_params_file')],
+        )
     ])

andino_firmware/README.md

@@ -37,7 +37,7 @@ Via `serial` connection (57600 baud) it is possible to interact with the microco
 
  - Get encoder values: `'e'`
  - Set open-loop speed for the motors[pwm] `'o <left> <right>'`
-   - Example to move forward full speed: `'o 255 255'` 
+   - Example to move forward full speed: `'o 255 255'`
    - Range `[-255 -> 255]`
  - Set closed-loop speed for the motors[ticks/sec] `'m <left> <right>'`
    - Important!: See the `Test it!` section.

andino_hardware/README.md

@@ -151,6 +151,33 @@ 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