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We need a node that would use the Spinnaker camera driver to connect to Pointgrey/FLIR cameras and publish their images as ROS 2 messages.
We inherit from the rclcpp::Node
and link the publish_image
function as a callback to a Spinnaker SDK wrapper.
The input is the images generated from the cameras and read by the driver. The driver will then make them available to this node.
The node is configured through the parameters. Here is a short recap of the most important parts. For more details, see the spinnaker_camera_node.param.template.yaml
file.
It can be used to run the node as follows:
It supports two ways of configuration:
If one_publisher_per_camera
is set to true
, there is going to be as many publishers as there are cameras, publishing on different topics. If set to false
a single publisher with a single topic will be reused. The messages can be then discriminated on the basis of their frame_id
.