dominiho edited this page Nov 18, 2016 · 24 revisions

Introduction

uvc ros driver is a ROS package that publishes video streams from USB video devices. It is made for devices that send multiple grayscale images as well as IMU data encoded in a color image stream. The current hardware is a composite usb device with three interfaces:

  1. USB Video Device
  2. Communication Device
  3. Mass Storage Device

All the interfaces use standard built in drivers. The video interface is used to stream out video data, the communication interface to set and get parameters of the cameras and the mass storage device holds the calibration data of the cameras.

To install the ros node, please see the installation instructions

To run the ros node, run this command:

roslaunch uvc_ros_driver uvc_ros_driver.launch

Parameters

There are a few parameters available:

Please see the parameter table for the full set.

  • numberOfCameras: set the number of connected cameras [2,4,6,8,10]
  • calibrationMode: throttles the framerate for calibration rosbag record [0,1]

To run the node with 4 cameras attached, calibration loaded and depthmap output enabled run this command:

roslaunch uvc_ros_driver uvc_ros_driver.launch numberOfCameras:=4

Authors

  • Dominik Honegger (email)
  • Lorenz Meier (email)
  • Nicolas de Palézieux (email)
  • Christoph Tobler (email)
  • Simone Guscetti (email)
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