kaancolak / lucid_vision_driver

Lucid Vision Camera ROS2 Driver with Arena SDK

arena_camera

arena_camera node publishes image data collected from Lucid Vision Labs Triton GigE cameras in /lucid_vision/camera_"X"/image_raw and /lucid_vision/camera_"X"/camera_infotopics as a ROS message(sensor_msgs/Image). This node can connect to multiple camera devices discovered by Lucid Vision Labs' ArenaSDK. In order to use this node, you need to install Lucid Vision Labs' ArenaSDK.

Installation

1. Download ArenaSDK from here.

2. Install ArenaSDK.

3. Before connecting to the camera you need to set your IP address, for this go to the location where you download ArenaSDK.

   For example cd /<your_location>/ArenaSDK_Linux_x64/precompiledExamples and at this location run ./IpConfigUtility /list to see camera's IP adresses.Your IP address can be set to 169.254.0.1.

4. Clone this driver to <your_workspace>/src/.

5. Check Serial number of devices and change the serial number values in parameter files. (Serial number writes on the box of the camera) Serial number is different for each product.

   If you have only one camera work on this param file : <your_ws>/src/arena_camera/param/lucid_vision_camera.param.yaml

   If you have more than one camera work on this param file : <your_ws>/src/arena_camera/param/multi_camera.param.yaml

6. Build your code with following command.

   colcon build

7. Source the directory and run the launch file with following command and if you want work with multi cameras you can change parameter file directory at launch file.

   ros2 launch arena_camera arena_camera.launch.py

   7.1 You can check whether data is flowing or not and what is the rate of it with following commands.

   ros2 topic hz /lucid_vision/<your_camera>/image_raw

8. Open another terminal and run Rviz2 with following command. rviz2

   8.1 Add the /lucid_vision/<your_camera>/image_raw topic to Display panel. With following "Add">"By topic" section.

   8.2 Set your "Fixed Frame" as "camera_top/camera_link".

   8.3 You can check and change frame id for every camera in <your_ws>/src/arena_camera/param/multi_camera.param.yaml

   8.4 Set your "Reliability Policy" to "Best Efford". (Best efford works in UDP, Reliable works in TCP/IP)

   8.5 Be sure that visibility button checked.