BB2Driver < Main

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---++++ BumbleBee2 ROS Driver

The BB2 Driver uses package camera1394stereo, which System, Robotics, & Vision from the University of the Balearic Islands provided. We modified the sources files within the driver, which previously had issues with the queuing and dequeuing of the buffer ring probably due to the slow processor in the Pioneer 3AT robots we used. We modified it to single shot mode rather than continuous transmission. Using ROS, the program can load image data onto a server from the right and left stereo camera.

Systems, Robotics, & Vision's Website: <span data-mce-mark="1">http://srv.uib.es/</span>

SRV's Github: https://github.com/srv

Original camera1394stereo code: https://github.com/srv/camera1394stereo
---++++ <b>How to Run BB2 ROS Driver<br /></b>
   1 Server
      * open terminal, run *roscore*
   1 Robot
      * *cd catkin_ws*
      * *. devel/setup.bash*
      * *cd src/camera1394stereo/launch*
      * *export ROS_MASTER_URI=http://&lt;server/laptop_ip_address&gt;:11311*
      * *export ROS_IP=&lt;robot_ip_address&gt;*
      * *roslaunch stereo_camera.launch*
         * N.B: if there is an error with the guid, change both &lt;guid&gt;.ymal file name and the parameter in the &lt;guid&gt;.yaml file *AND* restart roscore
   1 After setup is complete, on the server (or laptop), run *rosrun rviz rviz*
      * in RViz, click *Add*
      * select *Image*
      * within the Image parameter, change the Image Topic to either <b>/</b><b>stereo_camera/left/image_raw </b>or <b>/s</b><b>tereo_camera/right/image_raw</b>
      * a window should pop up with the received image being displayed from the stereo camera
---++ Permissions

   * Persons/group who can view/change the page:

   * Set ALLOWTOPICCHANGE = FRCVRoboticsGroup

-- (c) Fordham University Robotics and Computer Vision

Attachments

Topic attachments
I	Attachment	History	Action	Size	Date	Who	Comment
zip	BB2_Driver.zip	r4 r3 r2 r1	manage	191.5 K	2019-04-04 - 17:34	LabTech	N.B: please include camera calibration files into /.ros/camera_info

This topic: Main > WebHome > FordhamRoboticsAndComputerVisionLaboratory > FRCVLabMaintenance > BB2Driver
Topic revision: r5 - 2019-04-04 - LabTech