turtlebot3_camera

Notes: We will use cv_camera ros package

1. Installing cv_camera ros package:
   1. git clone https://github.com/OTL/cv_camera.git
2. (OPTIONAL) -- if error appear:
   1. git clone https://github.com/ros/roslint.git -- some package require for cv_camera

or

2.  rosdep install --from-paths src --ignore-src -r -y (the best; will install any require dependencies of all packages)

launch:

BringUp Camera

Both launch file xxx_robot.launch and xxx_remote.launch act like bringup in original TurtleBot3 wiki.

1. Using Raspberry Pi Camera on RPi:

   1. roscore (Remote PC)

   2. cameraPi_robot.launch

      1. launch on TurtleBot3
      2. publishing:
         1. /camPi/camera_info
         2. /camPi/image_raw
         3. /camPi/image_raw/compressed
         4. /camPi/image_raw/compressed/parameter_descriptions
         5. /camPi/image_raw/compressed/parameter_updates
         6. /camPi/image_raw/compressedDepth
         7. /camPi/image_raw/compressedDepth/parameter_descriptions
         8. /camPi/image_raw/compressedDepth/parameter_updates
         9. /camPi/image_raw/theora
         10. /camPi/image_raw/theora/parameter_descriptions
         11. /camPi/image_raw/theora/parameter_updates

   3. cameraPi_remote.launch

      1. launch on Remote PC
      2. publishing:
         1. /pi_opencv_img
      3. subscribing:
         1. /camPi/camera_info
         2. /camPi/image_raw

2. Using USB Camera on RPi:

   1. roscore (Remote PC)

   2. cameraPi_USB_robot.launch

      1. launch on TurtleBot3
      2. publishing:
         1. /camPi_USB/camera_info
         2. /camPi_USB/image_raw
         3. /camPi_USB/image_raw/compressed
         4. /camPi_USB/image_raw/compressed/parameter_descriptions
         5. /camPi_USB/image_raw/compressed/parameter_updates
         6. /camPi_USB/image_raw/compressedDepth
         7. /camPi_USB/image_raw/compressedDepth/parameter_descriptions
         8. /camPi_USB/image_raw/compressedDepth/parameter_updates
         9. /camPi_USB/image_raw/theora
         10. /camPi_USB/image_raw/theora/parameter_descriptions
         11. /camPi_USB/image_raw/theora/parameter_updates

   3. cameraPi_USB_remote.launch

      1. launch on Remote PC
      2. publishing:
         1. /pi_usb_opencv_img
      3. subscribing:
         1. /camPi_USB/camera_info
         2. /camPi_USB/image_raw

3. Using USB Camera (PC use only)

   1. roscore (Remote PC)

   2. cameraUSB_robot.launch

      1. launch on Remote PC
      2. publishing:
         1. /camUSB/camera_info
         2. /camUSB/image_raw
         3. /camUSB/image_raw/compressed
         4. /camUSB/image_raw/compressed/parameter_descriptions
         5. /camUSB/image_raw/compressed/parameter_updates
         6. /camUSB/image_raw/compressedDepth
         7. /camUSB/image_raw/compressedDepth/parameter_descriptions
         8. /camUSB/image_raw/compressedDepth/parameter_updates
         9. /camUSB/image_raw/theora
         10. /camUSB/image_raw/theora/parameter_descriptions
         11. /camUSB/image_raw/theora/parameter_updates

   3. cameraUSB_remote.launch

      1. launch on Remote PC
      2. publishing:
         1. /usb_opencv_img
      3. subscribing:
         1. /camUSB/camera_info
         2. /camUSB/image_raw

Important:

All launch file with xxx_remote.launch will run Image converter node ("image_converter_pi_node.py", or "image_converter_pi_usb_node.py" or "image_converter_usb_node.py") which require args -- args="38 80 10" ---> gamma, alpha, beta. The value depending on the camera-calibration shapen the image quality --- rosrun turtlebot3_camera sharpenCalibrate_xxx_node.py

1. roscore (Remote PC)
2. roslaunch turtlebot3_camera cameraPi_robot.launch (TurtleBot3)
3. roslaunch turtlebot3_camera cameraPi_remote.launch (Remote PC)
4. rosrun turtlebot3_camera sharpenCalibrate_pi_node.py (Remote PC)

or

1. roscore (Remote PC)
2. roslaunch turtlebot3_camera cameraPi_USB_robot.launch (TurtleBot3)
3. roslaunch turtlebot3_camera rangeDetectorPi_USB.launch (Remote PC)
4. rosrun turtlebot3_camera sharpenCalibrate_pi_usb_node.py (Remote PC)

or

1. roscore (Remote PC)
2. roslaunch turtlebot3_camera cameraUSB_robot.launch (Remote PC)
3. roslaunch turtlebot3_camera rangeDetectorUSB.launch (Remote PC)
4. rosrun turtlebot3_camera sharpenCalibrate_usb_node.py (Remote PC)

Range Detector

Use to find the color range (upper/lower) -- require an args -- args="HSV 38 80 10" where HSV is colorspace, and 38, 80, and 18 (gamma, alpha, beta) from image sharpenCalibrate_xxx_node.

1. roscore (Remote PC)
2. roslaunch turtlebot3_camera cameraPi_robot.launch (TurtleBot3)
3. roslaunch turtlebot3_camera rangeDetectorPi.launch (Remote PC)

or

1. roscore (Remote PC)
2. roslaunch turtlebot3_camera cameraPi_USB_robot.launch (TurtleBot3)
3. roslaunch turtlebot3_camera rangeDetectorPi_USB.launch (Remote PC)

or

1. roscore (Remote PC)
2. roslaunch turtlebot3_camera cameraUSB_robot.launch (Remote PC)
3. roslaunch turtlebot3_camera rangeDetectorUSB.launch (Remote PC)