logicool

The logicool ROS package provides a simple launch file to integrate Logitech USB webcams with ROS Noetic. This package relies on the usb_cam ROS package to interface with the webcam and stream its feed to the ROS ecosystem.

Dependencies

Before using the logicool package, ensure that the following packages are installed:

1. usb_cam - ROS package to interface with USB cameras.
2. camera_calibration - ROS package for camera calibration.

Installation

Step 1: Install usb_cam and camera_calibration

You can install the necessary packages using the following commands:

sudo apt-get update
sudo apt-get install ros-noetic-usb-cam
sudo apt-get install ros-noetic-camera-calibration

Step 2: Clone and Build the logicool Package

1. Navigate to your ROS workspace's src directory:

   cd ~/catkin_ws/src
   

2. Clone the logicool repository:

   git clone https://github.com/bastien-muraccioli/logicool.git
   

3. Navigate to the workspace root and build the package:

   cd ~/catkin_ws
   catkin_make
   

4. Source the setup file:

   source devel/setup.bash
   

Usage

Launching the Camera

To start streaming from your Logitech USB webcam, use the provided launch file:

roslaunch logicool usb_cam.launch

You can view the camera feed using the rqt_image_view tool (optional but recommended for verification):

rosrun rqt_image_view rqt_image_view

Camera Calibration Tutorial

To calibrate your camera, follow these steps:

Step 1: Launch the Camera

Open a terminal and execute the following commands to start the camera:

cd ~/catkin_ws
source devel/setup.bash
roslaunch logicool usb_cam.launch

Step 2: Open a Second Terminal for Calibration

In a new terminal, start the calibration tool:

cd ~/catkin_ws
source devel/setup.bash
rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.025 image:=/usb_cam/image_raw camera:=/usb_cam

Follow the instructions to move the calibration pattern in front of the camera in various directions to capture sufficient data.

Step 3: Save and Apply Calibration Data

After completing the calibration process:

1. Create a directory to store the calibration data:

   mkdir calibration
   cd calibration
   

2. Move and extract the calibration data file:

   mv /tmp/calibrationdata.tar.gz .
   tar -xzf calibrationdata.tar.gz
   

3. Update the calibration file:

   sed -i 's/narrow_stereo/usb_cam/g' ost.yaml
   cp ost.yaml ~/.ros/camera_info/usb_cam.yaml
   

4. Clean up:

   cd ..
   rm -r calibration
   

You should now have a calibrated camera ready for use in your ROS Noetic environment.