:floppy_disk: l3xz_openmv_camera

ROS driver for OpenMV Cam H7 R2, including support for thermal vision with FLIR Lepton adapter module.

Setup

Prepare camera

1. Connect camera via USB
2. Copy camera_script/main.py to the USB drive of the camera
3. Unmount camera
4. Reconnect camera

Additional dependencies

• openmv as submodule

How-to-build

cd $COLCON_WS/src
git clone --recursive https://github.com/107-systems/l3xz_openmv_camera
cd $COLCON_WS
source /opt/ros/humble/setup.bash
PYTHONWARNINGS=ignore:::setuptools.command.install,ignore:::setuptools.command.easy_install,ignore:::pkg_resources colcon build --packages-select l3xz_openmv_camera

How-to-run

cd $COLCON_WS
. install/setup.bash
ros2 run l3xz_openmv_camera l3xz_openmv_camera

Interface Documentation

Published Topics

Default name	Type	Description
/l3xz/openmv/image_color	sensor_msgs/Image	Camera image
/l3xz/openmv/image_color_compressed	sensor_msgs/CompressedImage	JPEG compressed image
/l3xz/openmv_camera_info	sensor_msgs/CameraInfo	Camera info
/l3xz/openmv/input_n	std_msgs/Bool	State of GPIO configured as input

Services

Default name	Description
/l3xz/openmv/rgb	Set binary values to RGB LED
/l3xz/openmv/ir	Set IR LED
/l3xz/openmv/gpio_config	Configure GPIO pin
/l3xz/openmv/gpio_set	Set GPIO pin configured as output

Parameters

Name	Default	Description
image_topic	image_color	RGB image
image_queue	1	Queue size for RGB image topic
info_topic	camera_info	Camera configuration
info_queue	1	Queue size for camera info topic
show_image	false	Show RGB image in OpenCV window
port	/dev/ttyACM0	Serial port of camera
frames_hz	10	fps
gpio_hz	1	GPIO update rate
frame_id	openmv_camera_frame	camera tf frame
resolution	QQVGA	image resolution