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Introduction

You can access Sawyer's hand camera and the head camera using the standard ROS image types and image_transport mechanism listed below. You can use the ROS Services to open, close, and configure each of the cameras. See the Camera Image Display Example for more information on using the cameras. Useful tools for using cameras in ROS include rviz Camera Display.

IMPORTANT: You can only have one open at a time at standard resolutions, due to bandwidth limitations.

Component IDs: right_hand_camera, head_camera

Camera Published Topics

Raw Image /cameras/<component_id>/image (sensor_msgs-Image)

Camera Intrinsics /cameras/<component_id>/camera_info (sensor_msgs-CameraInfo)

Standardized Camera Intrinsics /cameras/<component_id>/camera_info_std (sensor_msgs-CameraInfo)

Example:

   # View now open camera topics
   $ rostopic list | grep camera
   /io/internal_camera/command
   /io/internal_camera/config
   /io/internal_camera/head_camera/camera_info
   /io/internal_camera/head_camera/command
   /io/internal_camera/head_camera/config
   /io/internal_camera/head_camera/image_raw
   /io/internal_camera/head_camera/image_rect_color
   /io/internal_camera/head_camera/rectify_color/parameter_descriptions
   /io/internal_camera/head_camera/rectify_color/parameter_updates
   /io/internal_camera/head_camera/state
   /io/internal_camera/right_hand_camera/camera_info
   /io/internal_camera/right_hand_camera/cognex/camera_info
   /io/internal_camera/right_hand_camera/cognex_data
   /io/internal_camera/right_hand_camera/command
   /io/internal_camera/right_hand_camera/config
   /io/internal_camera/right_hand_camera/events
   /io/internal_camera/right_hand_camera/image_raw
   /io/internal_camera/right_hand_camera/image_rect
   /io/internal_camera/right_hand_camera/rectify_mono/parameter_descriptions
   /io/internal_camera/right_hand_camera/rectify_mono/parameter_updates
   /io/internal_camera/right_hand_camera/state
   /io/internal_camera/state
   /robot/digital_io/right_hand_camera_power/state
   /robot/digital_io/torso_camera_power/state