https://github.com/asorbini/ros2_avt_camera_drivers
ROS 2 drivers for cameras manufactured by Allied Vision Technologies
https://github.com/asorbini/ros2_avt_camera_drivers
Last synced: about 1 year ago
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ROS 2 drivers for cameras manufactured by Allied Vision Technologies
- Host: GitHub
- URL: https://github.com/asorbini/ros2_avt_camera_drivers
- Owner: asorbini
- Created: 2021-06-23T21:49:40.000Z (almost 5 years ago)
- Default Branch: main
- Last Pushed: 2021-07-07T19:16:45.000Z (almost 5 years ago)
- Last Synced: 2025-02-10T06:46:11.217Z (over 1 year ago)
- Language: C++
- Homepage:
- Size: 46.9 KB
- Stars: 2
- Watchers: 1
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# ROS 2 drivers for cameras by Allied Vision Technologies
This repo contains a ROS2 driver for cameras manufactured by [Allied Vision Technologies](https://www.alliedvision.com).
The driver relies on libraries provided by AVT as part of their [Vimba SDK](https://www.alliedvision.com/en/products/software.html).
This driver was ported from the ROS(1) driver at [AutonomouStuff GitHub](https://github.com/astuff/avt_vimba_camera) to ROS2, as of the Foxy release.
At the moment, the repository only includes the "mono" version of the driver.
## Building the driver
This driver relies on the [Vimba SDK](https://www.alliedvision.com/en/products/software.html)
which is exposed to ROS 2 by the [`vimba_sdk_vendor`](https://github.com/asorbini/vimba_sdk_vendor) package.
The SDK must be installed by hand on the build system, and the installation
location must be specified with variable `VIMBA_DIR`.
Once you have installed the SDK and a recent version of ROS 2 (Foxy or later),
you can clone the required repositories and build them in a workspace like
any other ROS 2 package. Note that you will also make sure to have the packages
from the [ros-perception/image_common](https://github.com/ros-perception/image_common)
repository.
```sh
# Create a workspace directory
mkdir ws-avt-cameras
cd ws-avt-cameras
# Clone the required repositories (alternatively, you may also use vcs, see below)
git clone https://github.com/asorbini/vimba_sdk_vendor.git
git clone https://github.com/asorbini/ros2_avt_camera_drivers.git
# Make sure image_common packages are installed (e.g. for Foxy)
sudo apt-get install -y ros-foxy-image-common
# Load ROS 2 (e.g. Foxy)
source /opt/ros/foxy/setup.bash
# Configure location of Vimba SDK
export VIMBA_DIR=/opt/Vimba_4.2
# Build driver using colcon
colcon build --symlink-install
```
If you prefer, you can use the provided file [avt_camera_drivers.repos](avt_camera_drivers.repos)
to clone all required repositories using `vcs`:
```sh
mkdir ws-avt-cameras
cd ws-avt-cameras
curl https://raw.githubusercontent.com/asorbini/ros2_avt_camera_drivers/main/avt_camera_drivers.repos | vcs import .
```
## Running the driver
The driver can be run with `ros2 run` by passing a YAML file to configure all parameter:
```sh
ros2 run ros2_avt_cameras mono_camera_node --ros-args --params-file ros2_avt_cameras/params/mono_c1.yaml
```