ladybug_camera_driver

Overview

This repository contains a ROS package for interfacing with the Flir Ladybug 5P 360 degree camera.

License

The source code is released under a BSD 3-Clause license.

Author: Steve Phillips
Affiliation: SDIC Lab
Maintainer: Steve Phillips, sjphilli@uwaterloo.ca

The ladybug_camera_driver package has been tested under [ROS] Kinetic and Ubuntu 16.04.

Usage

This package uses nodelets to interface with and publish images from the camera. The camera nodelet can be launched with:

• camera.launch:
  • frame_id (string, default: ladybug_link)
  • camera_mode (string, default: raw)
    • Set to either 'raw' or 'rectified'
  • enable_debug_logging (bool, default: false)
  • diagnostics_desired_freq (int, default: 10)
  • diagnostics_min_freq (int, default: 10)
  • diagnostics_max_freq (int, default: 10)
  • diagnostics_freq_tolerance (int, default: 0.1)
  • diagnostics_window_size (int, default: 10)
  • diagnostics_min_acceptable_delay (int, default: 0.0)
  • diagnostics_max_acceptable_delay (int, default: 0.01)

Nodelets

LadybugNodelet

Published Topics

• /ladybug/camera_[1-6]/camera_info ([sensor_msgs/CameraInfo])

  Camera info topic for each of the 6 cameras.

• /ladybug/camera_[1-6]/image_raw ([sensor_msgs/Image])

  The raw bayer images from each camera are each published on their own topic via. image_transport.

• /image_tiles ([ladybug_msgs/LadybugTiles])

  The LadybugTiles.msg contains an array of 6 sensor_msgs/Image messages, corresponding to each of the 6 tiles.

• /diagnostics ([diagnostic_msgs/DiagnosticArray])

  Publishes diagnostics information from the ladybug (temperature, pressure).