Awesome
<a href="https://107-systems.org/"><img align="right" src="https://raw.githubusercontent.com/107-systems/.github/main/logo/107-systems.png" width="15%"></a>
:floppy_disk: l3xz_openmv_camera
ROS driver for OpenMV Cam H7 R2, including support for thermal vision with FLIR Lepton adapter module.
<p align="center">
<a href="https://github.com/107-systems/l3xz"><img src="https://raw.githubusercontent.com/107-systems/.github/main/logo/l3xz-logo-memento-mori-github.png" width="40%"></a>
</p>
<p align="center">
<img src="doc/img/rgb.png" width="300" height="300"><img src="doc/img/thermal.png" width="300" height="300">
</p>
Setup
Prepare camera
- Connect camera via USB
- Copy
camera_script/main.py to the USB drive of the camera
- Unmount camera
- Reconnect camera
Additional dependencies
How-to-build
cd $COLCON_WS/src
git clone --recursive https://github.com/107-systems/l3xz_openmv_camera
cd $COLCON_WS
source /opt/ros/humble/setup.bash
PYTHONWARNINGS=ignore:::setuptools.command.install,ignore:::setuptools.command.easy_install,ignore:::pkg_resources colcon build --packages-select l3xz_openmv_camera
How-to-run
cd $COLCON_WS
. install/setup.bash
ros2 run l3xz_openmv_camera l3xz_openmv_camera
Interface Documentation
Published Topics
Services
| Default name | Description |
|---|
/l3xz/openmv/rgb | Set binary values to RGB LED |
/l3xz/openmv/ir | Set IR LED |
/l3xz/openmv/gpio_config | Configure GPIO pin |
/l3xz/openmv/gpio_set | Set GPIO pin configured as output |
Parameters
| Name | Default | Description |
|---|
image_topic | image_color | RGB image |
image_queue | 1 | Queue size for RGB image topic |
info_topic | camera_info | Camera configuration |
info_queue | 1 | Queue size for camera info topic |
show_image | false | Show RGB image in OpenCV window |
port | /dev/ttyACM0 | Serial port of camera |
frames_hz | 10 | fps |
gpio_hz | 1 | GPIO update rate |
frame_id | openmv_camera_frame | camera tf frame |
resolution | QQVGA | image resolution |