Add support for selecting which camera to use

[rohbotics]

Related to #41

@realizator Can you see if this at least partially suits your needs?

[realizator]

@rohbotics, camera select option looks good. I will ask my friend with ROS experience if he will be able to use it.
upd> Friend says if he will be able to run two instances of a driver it should work. We a ready to test it if you'll be able to give us "night build" image with this feature implemented.

Also two notices for you. While working in stereo mode one camera is set as "master", another as "slave", or "secondary". "Master" makes auto settings, and secondary camera copies all settings form master (like brightness, AWB, contrast etc.) for images to be captured with the same settings. If we take independent images we can obtain different settings (especially in a case of light source on the left or right - settings will differ). But for the first stage tests it is not so critical.

Second notice for the future. If I work with stereo mode in Pi and make "-cs 1" - second camera became "master", and cameras are "swapped" in final image. That is left became right and vice versa. We should keep it in a mind for the future.

[rohbotics]

Here is a deb file to test off of: https://drive.google.com/open?id=1VhjHMQT-46AEUKsidiEA0s1utdU7aw_c

To install:
Download the file onto the pi
On the Pi: sudo apt install ./ros-kinetic-raspicam-node_0.3.0~pr55_armhf.deb

To test on our image:
roslaunch raspicam_node camerav2_1280x960_10fps.launch
then in another terminal rqt_image_view rqt_image_view /raspicam_node/image/compressed

Ctrl+C the processes
run rosparam set /raspicam_node/camera_id 1
then run roslaunch raspicam_node camerav2_1280x960_10fps.launch again
then the other terminal run rqt_image_view again

You should see images from different cameras each time.

[jimvaughan]

Looks reasonable

[jim-v]

Looks reasonable to me too :)

[rohbotics]

@realizator can you test this out and let me know if it lets you switch cameras?

[davecrawley]

Wow Jim is approving so many pull requests it looks like there are two of him! :-)

…

On Sat, Oct 20, 2018 at 3:46 PM Jim Vaughan ***@***.***> wrote: ***@***.**** approved this pull request. Looks reasonable to me too :) — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#55 (review)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/ALDeViYZsTSZaw39tgphBDxz3YprdXUGks5um6fbgaJpZM4Xvf6b> .

[realizator]

@rohbotics I will have access to my equipment tomorrow and can check camera selection. Will write you my results right after tests.

[realizator]

@rohbotics I tested your DEB.

1. While sudo apt install ./ros-kinetic-raspicam-node_0.3.0~pr55_armhf.deb I got "Could not get lock /var/lib/dpkg/lock" message. I solved this with sudo rm /var/lib/dpkg/lock and installed DEB successfully.

2. In your suggested line rqt_image_view rqt_image_view /raspicam_node/image/compressed there are two copies of rqt_image_view. While run I got "error: unrecognized arguments...". I think this is typo and you just twice "pasted" this, thus I leave only one "rqt_image_view" in your command row. After that it started successfully.

3. I succesfully got image from the first camera.

4. After ctrl+c "rqt_image_view" process in a second terminal, setting camera ID to 1 does nothing. So I did:

• stopped "roslaunch raspicam_node..." too
• run rosparam set /raspicam_node/camera_id 1
• run roslaunch raspicam_node camerav2_1280x960_10fps.launch
• run rqt_image_view /raspicam_node/image/compressed
  and successfully got image from the second camera.

Just a mention - I have v1 camera (wide-angle clone of original V1), but all your commands for V2 works.

[realizator]

p.s. sorry for posting 3 comments - GitHub have some problems now with login and posting comments ("You can't comment at this time."). I deleted duplicated comments.

[rohbotics]

Awesome! Merging.

Yup, my bad on the rqt_image_view command, sorry about that

Just FYI
sudo rm /var/lib/dpkg/lock is probably a bad idea, because that means some auto-update process is (annoyingly) running in the background. Will disable this on the next image.

[realizator]

upd> @rohbotics , also two notices about tests

1. While run "rqt_image_view..." I got warning "libEGL warning: DRI2: failed to authenticate " every time, but it works.

2. If I try to choose "/raspicam_node/image" or "raspicam_node/image/raw" I have grayscale gradient static image, no real picture. If I choose raspicam_node/image/compressed in QT dropdown list I got normal image. I also try to add _image_transport:=raw according to warning from [image_transport] but it does not fix it. Where am I do something wrong?

[rohbotics]

libEGL warning: DRI2: failed to authenticate - Normal on the Raspberry Pi

Do you have raw publishing enabled?
rosparam set /raspicam_node/enable_raw true and then start raspicam.

[realizator]

@rohbotics I tested it with enable_raw, and looks like it works.
As for libEGL warning - ok, now I know.

[amburkoff]

@rohbotics How to simultaneously run two nodes so that one streams the left camera and the other right in different topics?

[karlahaiat]

@rohbotics How to simultaneously run two nodes so that one streams the left camera and the other right in different topics?

I am also interested in this, is it possible?