spinnaker_ros_interface

Spinnaker ROS Driver

Dependencies

1. ROS
2. The Spinnaker SDK found at [FLIR]((https://www.flir.com/products/spinnaker-sdk/?vertical=machine+vision&segment=iis). This repository has been tested with SDK version 2.7.0. We currently do not support SDK version 3.0.0 due to its lack of support for RG8 to BGR8 image conversions.
   • Navigate to the download directory, unzip the folder, navigate into the folder and run:

   ./install_spinnaker.sh
   

3. The AMRL shared library amrl_shared_lib and AMRL configuration reader config_reader. NOTE that both are installed during submodule initialization in the Build instructions by default.
4. Install dependencies:

   sudo apt install liblua5.1-0-dev
   

Build

1. In the terminal source your ROS install

   source /opt/ros/noetic/setup.bash 
   

2. Navigate to the spinnaker_ros_interface directory.

3. Initialize the submodules:

   git submodule update --init
   

4. Run make

Usage

You can run the node manually from the command line or use roslaunch.

Commnad Line

Before running the node you must start a roscore in another terminal.

1. Edit the default config file config/blackfly-s.lua, or create your own camera config file
2. Run ./bin/spinnaker_ros_interface to run with the defaults
3. Run ./bin/spinnaker_ros_interface --config <file.lua> to run with the specified config file
4. Run ./bin/spinnaker_ros_interface __name:=<node_name> to run with user specified ROS node name - required when running two or more nodes

Roslaunch

From the spinnaker_ros_interface directory add the package to the ROS_PACKAGE_PATH so roslaunch will be able to find it:

1. export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:`pwd`
2. Run roslaunch spinnaker_ros_interface spinnaker_ros_interface.launch to run with the defaults
3. Run roslaunch spinnaker_ros_interface spinnaker_ros_interface.launch camera_config:=<config_file.lua> to run with the specified config file
4. Run roslaunch spinnaker_ros_interface spinnaker_ros_interface.launch node_name:=<unique_node_name> to run with user specified ROS node name - required when running two or more nodes

Note that users who are familiar with launch files can edit these parameters in the launch file itself and take advantage of the control/flexibility that roslaunch gives users.

Spinnaker SpinView QT Application

The SDK provides a GUI with which you can verify camera connectivity and find information like camera serial number.

1. Navigate to the Spinnaker binary directory

   cd /opt/spinnaker/bin
   

2. Run SpinView application

   ./SpinView
   

In order to configure synchronized capture see this link