quadrotor-IITKgp/basler_camera

Name: basler_camera

Owner: Aerial Robotics Kharagpur

Description: ROS interface with Basler cameras API

Created: 2016-05-13 22:21:16.0

Updated: 2016-05-13 22:21:16.0

Pushed: 2016-04-26 13:37:30.0

Homepage: null

Size: 47

Language: C++

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README

Basler camera interface with ROS

These are the steps needed to publish Basler camera images to ROS:

1. Get the Pylon 5 Camera Software Suite from the Basler website:

   http://www.baslerweb.com/en/support/downloads/software-downloads?type=28&series=0&model=0

2. Follow these instructions (also available in the install file):

   a. Change to the directory which contains this INSTALL file, e.g.:

   /pylon-5.0.1.6388-x86_64
   

   b. Extract the corresponding SDK into /opt

    tar -C /opt -xzf pylonSDK*.tar.gz
   

   c. Install udev-rules to set up permissions for basler USB cameras

   tup-usb.sh
   

   d. Unplug and replug all USB cameras to get the udev rules applied.

   e. Execute /opt/pylon5/bin/PylonViewerApp to test your cameras.

3. Setup your environment for pylon to find the necessary dependencies:

   ce /opt/pylon5/bin/pylon-setup-env.sh /opt/pylon5
   

   If using it more than once, you probably also want to add this to your ~/.bashrc

4. Build the package using catkin_make

5. Launch the basler_Camera node with:

   aunch basler_camera basler_camera.launch
   

   The frame rate could be modified using the frame_rate parameter.

   The camera can optionally be selected with the serial_number parameter.

6. The image can be visualized using image_view:

   un image_view image_view image:=/camera/image_raw
   

7. If you have a stereo system then launch the cameras as:

   aunch basler_camera stereo_rectified.launch
   

   or:

   aunch basler_camera stereo_unrectified.launch