Jesus/#169 camera info yaml

andino_bringup/config/raspicam.yaml

@@ -1,7 +1,9 @@
+# Calibration tutorial (from Nav2 docs): https://docs.nav2.org/tutorials/docs/camera_calibration.html
+# 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
+
 image_width: 640
 image_height: 480
-# camera_name: narrow_stereo
-camera_name: hd_webcam:_hd_webcam
+camera_name: narrow_stereo
 camera_matrix:
   rows: 3
   cols: 3

andino_bringup/launch/camera.launch.py

@@ -31,27 +31,31 @@
 from launch import LaunchDescription
 from launch_ros.actions import Node
 from launch.actions import DeclareLaunchArgument
-from launch.substitutions import LaunchConfiguration
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, TextSubstitution
 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():
-    # 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'),
+    # Declare launch argument for the path to the camera params YAML file (the 'file://' part is mandatory, you can't skip it)
+    intrinsic_params_file = DeclareLaunchArgument(
+        'intrinsic_params_file',
+        default_value='file://' + join(pkg_andino_bringup, 'config', 'raspicam.yaml'),
         description='Path to camera intrinsics YAML file'
     )
 
     return LaunchDescription([
-        camera_params_file,
+        intrinsic_params_file,
         Node(
             package='v4l2_camera',
             executable='v4l2_camera_node',
             name='v4l2_camera_node',
             output='screen',
-            parameters=[LaunchConfiguration('camera_params_file')],
+            parameters=[{
+                'image_size': [640, 480],
+                'camera_frame_id': 'camera_link',
+                'camera_info_url': LaunchConfiguration('intrinsic_params_file'),
+            }],
         )
     ])