Merge pull request #27 from FraunhoferIOSB/noetic-devel

Noetic devel -> main

CHANGELOG.rst

@@ -0,0 +1,55 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package camera_aravis
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+4.0.4 (2022-12-23)
+------------------
+* Update package maintainer
+* Refactor node params (`#21 <https://github.com/FraunhoferIOSB/camera_aravis/issues/21>`_)
+  * Refactor node params
+  * Rename extended_camera_info\_ -> pub_ext_camera_info\_
+  * Move stream parameters to the top of onInit()
+* fix: only reset PTP clock when in "Faulty" or "Disabled" state (`#23 <https://github.com/FraunhoferIOSB/camera_aravis/issues/23>`_)
+* Update industrial_ci default branch to main
+* Contributors: Dominik Kleiser, Peter Mortimer, Ruf, Boitumelo
+
+4.0.3 (2022-07-08)
+------------------
+* Refactor image conversion (`#20 <https://github.com/FraunhoferIOSB/camera_aravis/issues/20>`_)
+* Use plain file names for includes (`#17 <https://github.com/FraunhoferIOSB/camera_aravis/issues/17>`_)
+* Add verbose flag for feature detection (default = false) (`#19 <https://github.com/FraunhoferIOSB/camera_aravis/issues/19>`_)
+* Assume num_streams\_ = 1 if DeviceStreamChannelCount and GevStreamChannelCount unavailable (`#18 <https://github.com/FraunhoferIOSB/camera_aravis/issues/18>`_)
+* Add Line0 to Line5 to TriggerSource Enum
+* Fix: nodelet namespace
+* Fix: onInit deadlock
+* Contributors: Dominik Kleiser, Boitumelo Ruf, Thomas Emter, Peter Mortimer, tas, Geoff McIver
+
+4.0.2 (2022-05-04)
+------------------
+* Add optional ExtendedCameraInfo message to publish additional camera acquisition parameters
+* Fix: Set reasonable height and width when not given in the CameraInfo
+* Contributors: Peter Mortimer
+
+4.0.1 (2022-03-25)
+------------------
+* Add ROS getter/setter services for camera features
+* Add support for multistream encoding conversion
+* Fix: Pass on the correct encoding for the additional streams of multisource cameras
+* Fix: Continuously check the spawning\_ flag
+* Fix: Check spawning\_ flag only once during spawnStream
+* Contributors: Peter Mortimer, Thomas Emter, Dominik Kleiser
+
+4.0.0 (2021-10-27)
+------------------
+* Major refactoring
+* Add support for ROS Noetic and aravis-0.6
+* Fix several bugs (see git history)
+* Add new features:
+
+  * Support for multisource cameras
+  * Zero-copy transport with ROS nodelets
+  * Camera time synchronization
+  * Example launch files
+
+* Update package author and maintainer
+* Contributors: Dominik Klein, Floris van Breugel, Gaël Écorchard, Thomas Emter, Peter Mortimer, Dominik Kleiser

CMakeLists.txt

@@ -19,6 +19,7 @@ find_package(catkin REQUIRED COMPONENTS
   nodelet
   std_msgs
   sensor_msgs
+  diagnostic_msgs
   message_generation
   image_transport
   camera_info_manager
@@ -28,12 +29,14 @@ find_package(catkin REQUIRED COMPONENTS
 )
 find_package(Aravis REQUIRED)
 find_package(GLIB2 REQUIRED)
+find_package(yaml-cpp REQUIRED)
 
 generate_dynamic_reconfigure_options(cfg/CameraAravis.cfg)
 
 add_message_files(
    FILES
    CameraAutoInfo.msg
+   CameraDiagnostics.msg
    ExtendedCameraInfo.msg
 )
 
@@ -53,6 +56,7 @@ generate_messages(
    DEPENDENCIES
    std_msgs
    sensor_msgs
+   diagnostic_msgs
 )
 
 catkin_package(
@@ -66,14 +70,17 @@ include_directories(cfg
   include
   ${catkin_INCLUDE_DIRS}
   ${Aravis_INCLUDE_DIRS}
-  ${GLIB2_INCLUDE_DIRS})
+  ${GLIB2_INCLUDE_DIRS}
+  ${YAML_CPP_INCLUDE_DIRS}
+)
 
 set(LIBRARIES
   ${catkin_LIBRARIES}
   ${Aravis_LIBRARIES}
   glib-2.0
   gmodule-2.0
   gobject-2.0
+  ${YAML_CPP_LIBRARY_DIRS}
 )
 
 add_library(${PROJECT_NAME}

README.md

@@ -47,6 +47,10 @@ a variety of camera features via the ROS reconfigure_gui, including the followin
 * FocusPos             (integer)
 * mtu                  (integer)
 
+Note that if the camera parameters are to be initialized from the parameters from the dynamic
+reconfigure server, the launch parameter ```init_params_from_dyn_reconfigure``` needs to be set
+to ```true``` (Default: ```false```);
+
 Note that the above are also the ROS parameter names of their respective feature.  You may
 set initial values for the camera by setting ROS parameters in the camera's namespace.
 
@@ -101,7 +105,71 @@ with the ROS clock on the PC, and furthermore since it comes from a different pi
 the two clock's rates are slightly different.
 
 The solution is to start with a base of ROS time, and to accumulate the dt's from the camera clock.
-To accomodate the difference in clock rates, a PID controller gently pulls the result toward
+To accommodate the difference in clock rates, a PID controller gently pulls the result toward
 ROS time.
 
+### Activating PTP Timestamp
+
+Some cameras support the use of the Precision Time Protocol (PTP) to set the timestamps of the 
+captured images. To activate it using camera_aravis a couple of launch parameters are available:
+
+- ```use_ptp_timestamp```: General switch to activate the use of the PTP timestamp within
+camera_aravis. Set to ```true``` to activate.
+	- Type: ```bool```
+	- Default: ```false```
+- ```ptp_enable_feature_name```: Feature name on the camera device to enable the use of PTP.
+	- Type: ```string```
+	- Default: ```"GevIEEE1588"```
+- ```ptp_status_feature_name```: Feature name on the camera device to access the status of the PTP.
+This is needed to monitor, whether camera_aravis needs to reset the PTP clock.
+	- Type: ```string```
+	- Default: ```"GevIEEE1588Status"```
+- ```ptp_set_cmd_feature_name```: Feature name of the 'Set-Command' on the camera device for PTP. 
+On some cameras a 'set' or 'synchronization' command needs to be executed after setting the features
+above for the PTP to be activated. If this launch parameter is set, the corresponding command will
+be executed after the parameters above are set.
+	- Type: ```string```
+	- Default: ```""```
+
+## Publishing camera diagnostics / status
+
+Camera_aravis allows to periodically monitor custom camera features and publish them in a designated
+topic named ```~/diagnostics``` in a message type as specified in 
+[CameraDiagnostics.msg](msg/CameraDiagnostics.msg). In order to configure and customize this 
+status monitoring, two launch parameters are provided:
+
+- ```diagnostic_publish_rate```: Rate at which to read and publish the diagnostic data.
+	- Type: ```double```
+	- Default: ```0.1``` (10 seconds)
+- ```diagnostic_yaml_url```: URL to yaml file specifying the camera features which are to be 
+monitored. If left empty (as default) no diagnostic features will be read and published.
+	- Type: ```string```
+	- Default: ```""```
+
+An example of such a diagnostic yaml file is given in 
+[camera_diagnostics.yaml](launch/camera_diagnostics.yaml). This file should hold a list of 
+```FeatureName``` together with a corresponding ```Type``` (bool, float, int, or string) for each
+feature which is to be monitored. If a feature is associated with a feature selector, one can 
+additionally specify a list of ```Selectors```. Each entry in this list should again have a 
+```FeatureName``` and ```Type```, as well as a ```Value``` to set.
+
+For each feature a key-value pair is constructed and published in the ```data``` field of the 
+message stated above. If a feature as a list of selectors, one key-value pair is constructed for
+each Feature-Selector pair.
+
+## Known Issues
+
+### Slow read of white balance and black level values
+
+From [PR#22](https://github.com/FraunhoferIOSB/camera_aravis/pull/22): The white balance and black 
+level values of some cameras (e.g. Basler acA2440-20gc & JAI FS-3200D-10GE ) can be read more 
+efficiently by reading from the exact memory locations of the camera instead of using the Selector 
+features.
+
+However, since we are not sure on how stable these optimizations based on exact memory locations are 
+in terms of firmware updates and how well they generalize to other camera models, we have refrained 
+from merging the pull request into the main repository.
+
+For more information and details on the implementation, please look into the changes and the 
+comments inside the pull request.
 

include/camera_aravis/camera_aravis_nodelet.h

@@ -54,13 +54,16 @@ extern "C" {
 #include <camera_info_manager/camera_info_manager.h>
 #include <boost/algorithm/string/trim.hpp>
 
+#include <yaml-cpp/yaml.h>
+
 #include <dynamic_reconfigure/server.h>
 #include <dynamic_reconfigure/SensorLevels.h>
 #include <tf/transform_listener.h>
 #include <tf2_ros/static_transform_broadcaster.h>
 #include <tf2_ros/transform_broadcaster.h>
 #include <camera_aravis/CameraAravisConfig.h>
 #include <camera_aravis/CameraAutoInfo.h>
+#include <camera_aravis/CameraDiagnostics.h>
 #include <camera_aravis/ExtendedCameraInfo.h>
 
 #include <camera_aravis/get_integer_feature_value.h>
@@ -89,7 +92,12 @@ class CameraAravisNodelet : public nodelet::Nodelet
 private:
   bool verbose_ = false;
   std::string guid_ = "";
+
   bool use_ptp_stamp_ = false;
+  std::string ptp_enable_feature_ = "GevIEEE1588";
+  std::string ptp_status_feature_ = "GevIEEE1588Status";
+  std::string ptp_set_cmd_feature_ = "";
+
   bool pub_ext_camera_info_ = false;
   bool pub_tf_optical_ = false;
 
@@ -168,6 +176,8 @@ class CameraAravisNodelet : public nodelet::Nodelet
 
   void publishTfLoop(double rate);
 
+  void readAndPublishCameraDiagnostics(double rate) const;
+
   void discoverFeatures();
 
   static void parseStringArgs(std::string in_arg_string, std::vector<std::string> &out_args);
@@ -196,6 +206,13 @@ class CameraAravisNodelet : public nodelet::Nodelet
   std::thread tf_dyn_thread_;
   std::atomic_bool tf_thread_active_;
 
+  std::string diagnostic_yaml_url_ = "";
+  double diagnostic_publish_rate_ = 0.1;
+  YAML::Node  diagnostic_features_;
+  ros::Publisher diagnostic_pub_;
+  std::thread diagnostic_thread_;
+  std::atomic_bool diagnostic_thread_active_;
+
   CameraAutoInfo auto_params_;
   ros::Publisher auto_pub_;
   ros::Subscriber auto_sub_;

launch/camera_aravis.launch

@@ -30,8 +30,7 @@
       <param name="camera_info_url"      value="$(arg camera_info_url)"/>
       <param name="frame_id"             value="$(arg sensor_name)"/>
 
-      <param name="publish_tf"           value="true"/>
-      <param name="tf_publish_rate"      value="$(arg fps)"/>
+      <param name="diagnostic_yaml_url"	 value="camera_diagnostics.yaml"/>
 
       <!-- use GenICam SFNC names as stream control parameters -->
       <param name="PixelFormat"          value="$(arg pixel_format)"/>
@@ -46,6 +45,12 @@
       <param name="GainAuto"             value="Continuous"/>
       <param name="BalanceWhiteAuto"     value="Continuous"/>
 
+      <param name="use_ptp_timestamp"           value="true"/>
+      <param name="ptp_enable_feature_name"     value="PtpEnable"/>
+      <param name="ptp_status_feature_name"     value="PtpStatus"/>
+      <param name="ptp_set_cmd_feature_name"    value="PtpDataSetLatch"/>
+      <param name="PtpOperationMode"		        value="Slave"/>
+
     </node>
 
     <!-- Debayer the image -->

launch/camera_diagnostics.yaml

@@ -0,0 +1,18 @@
+- FeatureName: DeviceTemperature
+  Type: float
+  Selectors:
+    - FeatureName: DeviceTemperatureSelector
+      Type: string
+      Value: Mainboard
+    - FeatureName: DeviceTemperatureSelector
+      Type: string
+      Value: Sensor
+- FeatureName: PtpEnable
+  Type: bool
+- FeatureName: PtpClockAccuracy
+  Type: string
+- FeatureName: PtpOperationMode
+  Type: string
+- FeatureName: PtpStatus
+  Type: string
+

msg/CameraDiagnostics.msg

@@ -0,0 +1,6 @@
+# Camera diagnostics message
+
+std_msgs/Header header
+
+# Array of key-value pairs holding the diagnostic data
+diagnostic_msgs/KeyValue[] data

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>camera_aravis</name>
-  <version>4.0.0</version>
+  <version>4.0.4</version>
   <description>camera_aravis: A complete and comfortable GenICam (USB3Vision and GigEVision) based camera driver for ROS (ethernet and usb).</description>
 
   <maintainer email="[email protected]">Boitumelo Ruf, Fraunhofer IOSB</maintainer>
@@ -24,6 +24,7 @@
   <depend>nodelet</depend>
   <depend>std_msgs</depend>
   <depend>sensor_msgs</depend>
+  <depend>diagnostic_msgs</depend>
   <depend>image_transport</depend>
   <depend>camera_info_manager</depend>
   <depend>dynamic_reconfigure</depend>