oCamS ROS control program
2019.05.23
- Added StereoMatching Mode(Depth map, Disparity map)
2017.11.24
- Added IMU mode (AMGQUA, LMGQUA)
- Camera default setting changed
2017.07.19
- Support for the oCamS-1CGN-U_R1707
- Auto-Exposure
- Added 640x360 resolution and more frame rates
- Camera controller
2017.05.23
- Support for the oCamS-1CGN-U
- ROS
- Linux OS
- libv4l (Video for Linux Two)
- libudev (udev, the device manager for the Linux kernel)
1. ROS install (If ROS is already installed on your PC, just skip it.)
- Refer to the following tutorial.
http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment - We recommend you to install ROS kinetic version.
2. oCamS ROS Package download and install
$ sudo apt-get install libv4l-dev libudev-dev ros-kinetic-rtabmap*
- using git clone
$ git clone https://github.com/withrobot/oCamS.git YOUR_LOCAL_PATH
$ cp -r YOUR_LOCAL_PATH/Software/oCamS_ROS_Package/ocams_1cgn YOUR_WORKING_DIRECTORY (ex. $ cp -r ~/oCamS/Software/oCamS_ROS_Package/ocams_1cgn ~/catkin_ws/src/)
$ cd YOUR_CATKIN_WORKSPACE (ex. $ cd ~/catkin_ws/)
$ catkin_make
$ source devel/setup.bash
3. Run
oCamS-1CGN-U sends IMU data through Virtual COM port.
So, user needs to write following rules into udev rule file like below.
$ sudo vi /etc/udev/rules.d/99-ttyacms.rules
ATTRS{idVendor}=="04b4" ATTRS{idProduct}=="00f9", MODE="0666", ENV{ID_MM_DEVICE_IGNORE}="1"
ATTRS{idVendor}=="04b4" ATTRS{idProduct}=="00f8", MODE="0666", ENV{ID_MM_DEVICE_IGNORE}="1"
$ sudo udevadm control –reload-rules
And, run...
$ roslaunch ocams_1cgn ocams_ros.launch
1. Firmware update on Windows OS
- You can find the latest firmware at https://github.com/withrobot/oCamS/blob/master/Firmware
(The latest firmware version is oCamS-1CGN-U_R1707_170719)- Correct file for the oCamS-1CGN-U should be selected for the firmware update
- You can find the firmware writing program at https://github.com/withrobot/oCamS/tree/master/Firmware/Update_FW
- Uncompress the downloaded "UpdateFW.zip"
- Follow the instruction described at https://github.com/withrobot/oCamS/tree/master/Firmware
- Uncompress the downloaded "UpdateFW.zip"