How to setup and use avt_vimba_camera node
Assuming an x86_64 system and a GiGE PoE camera
http://wiki.ros.org/avt_vimba_camera
Driver Setup
- Download the Vimba SDK from Allied Vision website https://www.alliedvision.com/en/products/software.html
- Extract the contents of the file
- Go to
Vimba_2_1/VimbaGigETL/
- Execute
sudo ./Install.sh
. This will add a couple of files inside/etc/profile.d
VimbaGigETL_64bit.sh
VimbaGigETL_32bit.sh
- The SDK will ask you to logout and login again. If you don’t wish to do so, execute
source /etc/profile.d/VimbaGigETL_64bit.sh
- Connect the camera.
- You’re ready to use the camera.
Change Camera IP Address
Initially the camera is running on DHCP mode. If you wish to change this.
- Go to
Vimba_2_1/Tools/Viewer/Bin/x86_64bit/
- Execute
sudo -E ./VimbaViewer
- Right Click the camera and Press Open CONFIG
- Go to the Tree and Open the GiGE root and the configuration subnode
- Change IP Configuration Mode to Persistent
- Move to the Persistent tree and change the Persistent IP Address to the desired value.
- Finally Click on IP Configuration Apply and click the Execute button
- Close the CONFIG MODE window
- After a few moments, the camera will appear showing the selected IP.
View Image Stream from Camera
- Go to
Vimba_2_1/Tools/Viewer/Bin/x86_64bit/
- Execute
sudo -E ./VimbaViewer
- Right Click the camera while in the viewer
- Select Open FULL ACCESS
- A new Window will appear, press the Blue Play button
ROS Node setup
- Once the driver is working, install the node using
sudo apt-get install ros-xxxx-avt-vimba-camera
. Wherexxxx
represents your ROS distro. - From Autoware launch in a sourced terminal
roslaunch runtime_manager avt_camera.launch guid:=SERIALNUMBER
orroslaunch runtime_manager avt_camera.launch ip:=xxx.xxx.xxx.xxx
SERIAL NUMBER or IP Address were previously obtained from the Configuration tool.
Dynamic configuration
The avt_vimba_camera
package supports dynamic configuration.
Once the node is running execute rosrun dynamic_reconfigure dynparam get /avt_camera
to get all the supported parameters.
To change one execute:
rosrun dynamic_reconfigure dynparam set /avt_camera exposure_auto_max 500000
this will update the maximum auto exposure time to 500 ms.
For extra details on dynamic_reconfigure
check: http://wiki.ros.org/dynamic_reconfigure