Advertised Services
Name |
Service Definition |
Description |
|---|---|---|
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Dumps the state of the camera parameters to JSON |
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Provides a means to configure the camera and imager settings, declaratively from a JSON encoding of the desired settings. |
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Get all the diagnostic messages corresponding to a JSON filter. |
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Provides a means to quickly change the camera state from IDLE to RUN. |
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Provides a means to quickly change the camera state from RUN to IDLE. |
Dump and Config
The ifm3d_ros2 package allows the user to configure the O3R camera platform using ROS native service calls.
Dump
Calling the native ROS service /ifm3d_ros2/camera/Dump for a certain camera will return the camera configuration as a JSON string. Please notice the use of backslashes (\ before each ") to escape each upper quotation mark. This is necessary to allow us to keep the JSON syntax native to the underlying API (ifm3d).
Call this service via, e.g. for camera:
$ ros2 service call /ifm3d/camera/Dump ifm3d_ros2/srv/Dump
requester: making request: ifm3d_ros2.srv.Dump_Request()
response:
ifm3d_ros2.srv.Dump_Response(status=0, config='{"device":{"clock":{"currentTime":1581110268783361824},"diagnostic":{"temperatures":[],"upTime":19624000000000},"info":{"device":"0301","deviceTreeBinaryBlob":"tegra186-quill-p3310-1000-c03-00-base.dtb","features":{},"name":"","partNumber":"M03975","productionState":"AA","serialNumber":"000201234159","vendor":"0001"},"network":{"authorized_keys":"","ipAddressConfig":0,"macEth0":"00:04:4B:EA:9F:35","macEth1":"00:02:01:23:41:59","networkSpeed":1000,"staticIPv4Address":"192.168.0.69","staticIPv4Gateway":"192.168.0.201","staticIPv4SubNetMask":"255.255.255.0","useDHCP":false},"state":{"errorMessage":"","errorNumber":""},"swVersion":{"kernel":"4.9.140-l4t-r32.4+gc35f5eb9d1d9","l4t":"r32.4.3","os":"0.13.13-221","schema":"v0.1.0","swu":"0.15.12"}},"ports":{"port0":{"acquisition":{"framerate":10.0,"version":{"major":0,"minor":0,"patch":0}},"data":{"algoDebugConfig":{},"availablePCICOutput":[],"pcicTCPPort":50010},"info":{"device":"2301","deviceTreeBinaryBlobOverlay":"001-ov9782.dtbo","features":{"fov":{"horizontal":127,"vertical":80},"resolution":{"height":800,"width":1280},"type":"2D"},"name":"","partNumber":"M03969","productionState":"AA","sensor":"OV9782","sensorID":"OV9782_127x80_noIllu_Csample","serialNumber":"000000000395","vendor":"0001"},"mode":"experimental_autoexposure2D","processing":{"extrinsicHeadToUser":{"rotX":0.0,"rotY":0.0,"rotZ":0.0,"transX":0.0,"transY":0.0,"transZ":0.0},"version":{"major":0,"minor":0,"patch":0}},"state":"RUN"}}')
Config
Below you can see an example on how to configure your camera via a ROS service call. The JSON string can be a partial JSON string. It only needs to follow basic JSON syntax. Please wrap the JSON string in a YAML syntax and use the field "json".
$ ros2 service call /ifm3d/camera/Config ifm3d_ros2/srv/Config "{json: '{\"ports\":{\"port0\":{\"mode\":\"standard_range4m\"}}}'}"
requester: making request: ifm3d_ros2.srv.Config_Request(json='{"ports":{"port2":{"mode":"standard_range4m"}}}')
response:
ifm3d_ros2.srv.Config_Response(status=0, msg='OK')
Diagnostic
The ifm3d_ros2 package provides a service to poll diagnostic data from the device. A filter can be provided to retrieve specific diagnostic data.
For example, to retrieve all active diagnostic corresponding to port 0:
$ ros2 service call /ifm3d/camera/GetDiag ifm3d_ros2/srv/GetDiag "{filter: '{\"source\":\"/ports/port0\", \"state\":\"active\"}'}"
requester: making request: ifm3d_ros2.srv.GetDiag_Request(filter='{"source":"/ports/port0", "state":"active"}')
response:
ifm3d_ros2.srv.GetDiag_Response(status=0, msg='{"bootid":"3202350a-a620-40a0-9114-5221bb55b1ff","events":[],"timestamp":1651187568817246656,"version": {"diagnostics":"0.0.11","euphrates":"1.34.32","firmware":"1.4.30.4443"}}')