ROS Index
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | TODO: License declaration |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/castacks/airstack.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2025-04-02 |
| Dev Status | UNMAINTAINED |
| 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
Additional Links
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- root
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Camera Parameter Server
Summary
The camera parameter server was designed to eliminate the need for multiple nodes to subscribe to each camera individually, reducing unnecessary subscribers and callbacks. Its sole purpose is to listen to the camera info topics, store relevant information about the cameras, and provide it on demand for other nodes to query.
Configuration
The camera parameter server is currently configurable through a non-ROS configuration file. This file allows users to define a list of cameras, specifying their types and topic names. At the top level of the configuration, a base link name is provided to indicate the tf name for the robot’s center. Additionally, a parameter called camera_list contains a list of dictionaries, with each dictionary representing an individual camera. Currently, two camera types are supported: monocular and stereo.
Parameters
Below are the parameters needed for the meta level camera parameter server configuration, as well as the camera fields needed to specify individual camera types.
Meta Level Parameters
| <div style="width:220px">Parameter</div> | Description |
|---|---|
base_link_frame_id |
The frame name of the base link, or center frame of the robot |
camera_list |
A list of dictionaries that define each camera of the system |
Monocular Camera Parameters
| <div style="width:220px">Parameter</div> | Description |
|---|---|
camera_name |
The name of the camera |
camera_type |
The type of camera, for monocular being mono
|
camera_info_sub_topic |
The info topic name for the camera, normally camera_info
|
camera_frame_id |
The frame name of the camera to find its tf |
Stereo Camera Parameters
| <div style="width:220px">Parameter</div> | Description |
|---|---|
camera_name |
The name of the camera |
camera_type |
The type of camera, for stereo being stereo
|
camera_info_sub_topic |
The info topic name for the camera, normally camera_info
|
left_camera_frame_id |
The frame name of the left camera for find its tf |
right_camera_frame_id |
The frame name of the right camera to find its tf |
Services
| <div style="width:220px">Parameter</div> | Type | Description
|—————————-|—————————————-|———————–|
| ~/get_camera_params | sensor_interfaces/GetCameraParams | The service to get info about the desired camera. This provides camera intrinsics, transform frame ids, and baseline if the camera type is a stereo|
Subscriptions
| <div style="width:220px">Parameter</div> | Type | Description
|—————————-|—————————————-|———————–|
| tf/ | tfMessage | Listens for the tf for the specified cameras |
| ~/camera_info | sensor_msgs/CameraInfo | Listens for the info for specified cameras|