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autoware_pointgrey_drivers package from autoware_learn repo

amathutils_lib autoware_build_flags autoware_health_checker emergency_handler gnss lanelet2_extension libvectormap libwaypoint_follower map_file object_map op_planner op_ros_helpers op_simu op_utility ros_observer tvm_utility vector_map vector_map_server vehicle_sim_model autoware_connector ekf_localizer gnss_localizer image_processor imm_ukf_pda_track lidar_apollo_cnn_seg_detect lidar_euclidean_cluster_detect lidar_fake_perception lidar_kf_contour_track lidar_localizer lidar_naive_l_shape_detect lidar_point_pillars lidar_shape_estimation naive_motion_predict ndt_cpu ndt_gpu ndt_tku obj_db pcl_omp_registration pixel_cloud_fusion points_downsampler points_preprocessor pos_db range_vision_fusion road_occupancy_processor roi_object_filter trafficlight_recognizer twist_generator vel_pose_diff_checker vision_beyond_track vision_darknet_detect vision_lane_detect vision_segment_enet_detect vision_ssd_detect astar_search costmap_generator decision_maker dp_planner ff_waypoint_follower freespace_planner lane_planner lattice_planner ll2_global_planner mpc_follower op_global_planner op_local_planner op_simulation_package op_utilities pure_pursuit state_machine_lib twist_filter twist_gate way_planner waypoint_maker waypoint_planner autoware_quickstart_examples autoware_can_msgs autoware_config_msgs autoware_external_msgs autoware_lanelet2_msgs autoware_map_msgs autoware_msgs autoware_system_msgs tablet_socket_msgs vector_map_msgs carla_autoware_bridge gazebo_camera_description gazebo_imu_description lgsvl_simulator_bridge vehicle_gazebo_simulation_interface vehicle_gazebo_simulation_launcher wf_simulator autoware_bag_tools autoware_camera_lidar_calibrator autoware_launcher autoware_launcher_rviz calibration_publisher data_preprocessor graph_tools kitti_box_publisher kitti_launch kitti_player lanelet_aisan_converter log_tools map_tf_generator map_tools marker_downsampler mqtt_socket multi_lidar_calibrator oculus_socket pc2_downsampler rosbag_controller runtime_manager sound_player system_monitor tablet_socket twist2odom udon_socket vehicle_engage_panel vehicle_socket decision_maker_panel detected_objects_visualizer fastvirtualscan gazebo_world_description glviewer integrated_viewer points2image rosinterface autoware_rviz_plugins vehicle_description vehicle_model adi_driver as autoware_driveworks_gmsl_interface autoware_driveworks_interface vlg22c_cam custom_msgs garmin hokuyo javad_navsat_driver kvaser sick_lms5xx memsic_imu microstrain_driver nmea_navsat autoware_pointgrey_drivers sick_ldmrs_description sick_ldmrs_driver sick_ldmrs_laser sick_ldmrs_msgs sick_ldmrs_tools vectacam xsens_driver ymc ds4 ds4_driver ds4_msgs lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation mrt_cmake_modules

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.12.0
License Apache 2
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description autoware src learn and recode.
Checkout URI https://github.com/is-whale/autoware_learn.git
VCS Type git
VCS Version 1.14
Last Updated 2025-03-14
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The autoware_pointgrey_drivers package

Additional Links

No additional links.

Maintainers

  • Masao KONDOH
  • Abraham Monrroy
  • Daisuke Nishimatsu

Authors

No additional authors.
drivers/awf_drivers/pointgrey/README.md

Autoware Point Grey Camera Drivers Package

This package allows the capture of an image stream from Point Grey cameras. It has been tested successfully with Grasshopper3 and LadyBug5 devices on both Ubuntu 14.04 and 16.04.

Requirements

  • FlyCapture SDK or Spinnaker SDK provided by Point Grey.

Grasshopper3

How to launch

  • From a sourced terminal:
    roslaunch autoware_pointgrey_drivers grasshopper3.launch
  • From Runtime manager:
    Sensing Tab -> Cameras -> PointGrey Grasshopper3

Parameters available

Parameter Type Description
fps integer Defines the frames per second at which to attempt image stream acquisition.
mode integer Camera Mode - please check your camera for valid modes (0,1,2,…,31).
format string Pixel Format, which can be either raw or rgb. raw will publish the default bayer format according to your camera sensor. Both modes have 8 bits per pixel per channel.
timeout integer Timeout in miliseconds. Default 1000 ms.
CalibrationFile string Path to an Autoware-compatible calibration file to be published in the camera_info topic related to this camera.

Ladybug

How to launch

  • From a sourced terminal:
    roslaunch autoware_pointgrey_drivers ladybug.launch

  • From Runtime manager:
    Sensing Tab -> Cameras -> PointGrey Ladybug5

Parameters available

Parameter Type Description
SCALE float Defines the downscale ratio (between 0.1 and 1.0).
CalibrationFile string Path to an Autoware-compatible calibration file to be published in the camera_info topic related to this camera.

Notes

  • The FlyCapture SDK must be obtained from Point Grey’s website.\

https://www.ptgrey.com/flycapture-sdk

FLIR ADK

Execute from Autoware/ros base path.

  1. rosdep update
  2. rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
  3. ./catkin_make_release
  4. ./run
  5. Connect your camera
  6. Confirm the camera has been detected using v4l2-ctl --list-devices
  7. Select from Sensing tab / Cameras -> FLIR ADK
  8. Press the [config] button and write the device name reported by v4l2-ctl --list-devices.
  9. Click the FLIR ADK checkbox
  10. Open Rviz and add image topic /flir_adk/camera/image_raw

Parameters available

Parameter Type Description
DEVICE string Name of the system device in the form /dev/videoX. Obtain the correct name using v4l2-ctl --list-devices.
FPS integer Frame per second. Default 30.
WIDTH integer Image width of the stream (Default 640).
HEIGHT integer Image height of the camera (Default 512).
NS string Namespace to add as prefix. Default flir_adk.

Spinnaker

How to launch

  • From a sourced terminal:
    roslaunch autoware_pointgrey_drivers spinnaker.launch
  • From Runtime manager:
    Sensing Tab -> Cameras -> PointGrey Spinnaker

Parameters available

Parameter Type Description
fps integer Frame per second (Default 60).
width integer Image width of the stream (Default 1440).
height integer Image height of the camera (Default 1080).
dltl integer DeviceLinkThroughputLimit (Default 100000000).
CHANGELOG

Changelog for package autoware_pointgrey_drivers

1.11.0 (2019-03-21)

  • Include app name in log message
  • To allow FPS to be set, it requires first to disable FrameRateAuto property
  • fix framerate check
  • Feature/spinnaker (#1984)
    • add spinnaker driver
    • modified for multithreading
    • fix CMakeLists.txt
    • fix CMakeLists.txt
    • fix spinnaker launch file
    • delete unused files
    • fix maintainer
    • fix thread function
    • add license and fix default value
    • modify README
    • modify computing.yml
      • Added install commands
    • Don't force raw image format
    • Removed mutex causing multiple cameras to don't publish
    • Removed crash due to the use of incompatible API on a camera
    • Switched to ROS logging instead of std out
    • Commented DLTL code
    • Removed namespace and pixel format

    * enable to change fps check device type and set DeviceLinkThroughputLimit

    • Check pointers' validity
    • applied clang format
  • [fix] Install commands for all the packages (#1861)
    • Initial fixes to detection, sensing, semantics and utils
    • fixing wrong filename on install command
    • Fixes to install commands
    • Hokuyo fix name
    • Fix obj db
    • Obj db include fixes
    • End of final cleaning sweep
    • Incorrect command order in runtime manager
    • Param tempfile not required by runtime_manager
      • Fixes to runtime manager install commands
    • Remove devel directory from catkin, if any
    • Updated launch files for robosense
    • Updated robosense
    • Fix/add missing install (#1977)
    • Added launch install to lidar_kf_contour_track
    • Added install to op_global_planner
    • Added install to way_planner
    • Added install to op_local_planner
    • Added install to op_simulation_package
    • Added install to op_utilities
    • Added install to sync
      • Improved installation script for pointgrey packages
    • Fixed nodelet error for gmsl cameras
    • USe install space in catkin as well
    • add install to catkin
    • Fix install directives (#1990)
    • Fixed installation path
    • Fixed params installation path
    • Fixed cfg installation path
    • Delete cache on colcon_release
  • Fix license notice in corresponding package.xml
  • Contributors: Abraham Monrroy Cano, amc-nu, wep21

1.10.0 (2019-01-17)

  • Switch to Apache 2 license (develop branch) (#1741)
    • Switch to Apache 2

    * Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.

    • Update license on Python files
    • Update copyright years
    • Add #ifndef/define _POINTS_IMAGE_H_
    • Updated license comment
  • [feature] Initial integration of Boson FLIR ADK camera driver for Autoware (#1809)
    • Initial integration of Boson FLIR ADK camera driver for Autoware
    • Added README description for Boson FLIR ADK
  • Fix Ros/ROS naming convention
  • Contributors: Abraham Monrroy Cano, Esteve Fernandez

1.9.1 (2018-11-06)

1.9.0 (2018-10-31)

1.8.0 (2018-08-31)

  • [Fix] Moved C++11 flag to autoware_build_flags (#1395)
  • [Feature] Makes sure that all binaries have their dependencies linked (#1385)
  • Added ID for multiple camera frames (#1296)
    • Added ID for multiple camera frames
    • Fixed indexing for Ladybug camera
    • Fixed camera index on grasshopper
  • [Fix] Extend and Update interface.yaml (#1291)
  • Contributors: Abraham Monrroy, Esteve Fernandez, Kenji Funaoka

1.7.0 (2018-05-18)

  • update Version from 1.6.3 to 1.7.0 in package.xml and CHANGELOG.rst
  • Fix/cmake cleanup (#1156)
    • Initial Cleanup
    • fixed also for indigo
    • kf cjeck
    • Fix road wizard
    • Added travis ci
    • Trigger CI
    • Fixes to cv_tracker and lidar_tracker cmake
    • Fix kitti player dependencies
    • Removed unnecessary dependencies
    • messages fixing for can
    • Update build script travis
    • Travis Path
    • Travis Paths fix
    • Travis test
    • Eigen checks
    • removed unnecessary dependencies
    • Eigen Detection
    • Job number reduced
    • Eigen3 more fixes
    • More Eigen3
    • Even more Eigen
    • find package cmake modules included
    • More fixes to cmake modules
    • Removed non ros dependency
    • Enable industrial_ci for indidog and kinetic
    • Wrong install command
    • fix rviz_plugin install
    • FastVirtualScan fix
    • Fix Qt5 Fastvirtualscan
    • Fixed qt5 system dependencies for rosdep
    • NDT TKU Fix catkin not pacakged
    • Fixes from industrial_ci
  • [feature] Add timeout to the grasshopper camera node. (#1154)
    • Added timeout to the grasshopper camera node.
    • Added timeout to the launch file
  • Autoware PointGrey driver package README (#1145)
    • Autoware PointGrey driver package README
    • Pushed latest README
    • Edited README
  • [feature] Grasshopper3 node modified to set the mode and pixel format (#1105)
    • Grasshopper3 node modified to set the mode and pixel format
    • Baumer Type Readme
    • Baumer Auto Exposure Algorithm improvement
    • Added Documentation to the package
    • Added runtime manager param controls for both Ladybug and Grasshopper nodes
  • Contributors: Abraham Monrroy, Kosuke Murakami

1.6.3 (2018-03-06)

1.6.2 (2018-02-27)

  • Update CHANGELOG
  • Contributors: Yusuke FUJII

1.6.1 (2018-01-20)

  • update CHANGELOG
  • Contributors: Yusuke FUJII

1.6.0 (2017-12-11)

  • Prepare release for 1.6.0
  • Fixed mirrored images on Ladybug camera (#906)
  • Runtime manager updated to new package names (#870) [fix] Runtime manager updated to new pgrey package names
  • [Feature] Updates to Pointgrey package/Ladybug node (#852) * Added support for FindXerces on Indigo (and Cmake less than 3.1.3) Changed default scaling value to 20% of original image size (to improve performance) Changed published image format from RGB to Bayer(to reduce bag size)
    • Tested on real camera, updated
  • Contributors: Abraham Monrroy, Yamato ANDO

1.5.1 (2017-09-25)

  • Release/1.5.1 (#816)
    • fix a build error by gcc version
    • fix build error for older indigo version
    • update changelog for v1.5.1
    • 1.5.1
  • Contributors: Yusuke FUJII

1.5.0 (2017-09-21)

  • Update changelog
  • add web ui
  • Fix cmake and package
  • Fix build error
  • Contributors: Akihito OHSATO, Yusuke FUJII, hironari.yashiro

1.4.0 (2017-08-04)

  • version number must equal current release number so we can start releasing in the future
  • added changelogs
  • Contributors: Dejan Pangercic

1.3.1 (2017-07-16)

1.3.0 (2017-07-14)

1.2.0 (2017-06-07)

1.1.2 (2017-02-27 23:10)

1.1.1 (2017-02-27 22:25)

1.1.0 (2017-02-24)

1.0.1 (2017-01-14)

1.0.0 (2016-12-22)

  • Fix ladybug driver
  • Add module graph tool
  • Fix typo
  • Add encoding check to use bayer image format
  • Use c++11 option instead of c++0x We can use newer compilers which support 'c++11' option
  • Add ladybug node
  • Initial commit for public release
  • Contributors: Manato Hirabayashi, Shinpei Kato, Syohei YOSHIDA, USUDA Hisashi

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
autoware_build_flags
catkin
gscam
cv_bridge
image_transport
message_generation
roscpp
std_msgs
tf

System Dependencies

Name
v4l-utils

Dependant Packages

No known dependants.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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