https://github.com/robotnikautomation/axis_camera
Contains Robotnik basic Python drivers for accessing an Axis camera's MJPG stream based on axis_camera ROS driver. Also provides control for PTZ cameras.
https://github.com/robotnikautomation/axis_camera
Last synced: about 1 year ago
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Contains Robotnik basic Python drivers for accessing an Axis camera's MJPG stream based on axis_camera ROS driver. Also provides control for PTZ cameras.
- Host: GitHub
- URL: https://github.com/robotnikautomation/axis_camera
- Owner: RobotnikAutomation
- Created: 2016-03-21T12:31:45.000Z (over 10 years ago)
- Default Branch: master
- Last Pushed: 2024-09-10T05:31:27.000Z (almost 2 years ago)
- Last Synced: 2024-09-10T07:59:47.415Z (almost 2 years ago)
- Language: Python
- Size: 94.7 KB
- Stars: 5
- Watchers: 8
- Forks: 6
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
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README
# axis_camera
## Overview
This ROS_ package provides an [Axis network camera](https://www.axis.com/products/network-cameras) driver, written in Python.
ROS wiki documentation: [axis_camera](http://wiki.ros.org/axis_camera).
This driver is under active development. Its ROS interfaces are relatively stable, but may still change.
## Nodes
- axis_node.py: Version 2 of the axis.py node. It works based on profiles + params. It is necessary to have the profiles defined. **Sets up axis camera and ptz server.**
## Configuration
If we want to use camera_info publication it is important that configuration .yaml has the same resolution than the resolution set in the camera (using or not profiles)
### How to set up your axis camera
> Note: if you are using AXIS M5054 you can use p5534 configuration files.
#### 1. Change your model name on launch file
In `launch/axis.launch`:
```yaml
```
```yaml
```
#### 2. Create parameter files for your camera model
- `config/axis_model_ptz_config.yaml`: ptz control parameters
- `data/axis_model.ayml`: camera parameters
### Testing your camera
There are three different launch files in this package.
> Note: if you encounter this error while trying to run any of the following commands just type `export ROS_NAMESPACE=axis` in your console.
- For running the camera control node and starting the live view GUI:
```
roslaunch axis_camera start_axis_and_video.launch
```
- For running only the camera control node:
```
roslaunch axis_camera axis.launch
```
- For running only the live view GUI (camera control node must be running):
```
roslaunch axis_camera image_view.launch
```
- You can also run image_view directly (setting the image topic to `/axis/image_color`):
```
rosrun image_view image_view image:=/axis/image_color
```
### Controlling your camera
You can send your camera PTZ commands via the `/axis/axis_camera/ptz_command` topic:
```
rostopic pub /axis/axis_camera/ptz_command robotnik_msgs/ptz "pan: 0.5
tilt: -1.0
zoom: 2.0
relative: false"
```
* params pan and tilt as float (radians)
* param zoom as float (proportional zoom between 0 and 9999)
* param relative as bool (increases the current pan,tilt,zoom relative to the current values)