Merge branch 'master' of https://github.com/apl-ocean-engineering/are…

…na_camera_ros2

README.md

@@ -1,11 +1,15 @@
 ## Arena Camera Driver for ROS2
 
-**Project Status:**  This software is a work in progress.  At present it is an in-progrss port of our [ROS1 LucidVision Driver](https://github.com/apl-ocean-engineering/arena_camera_ros) driver and is not feature-complete.
+**Project Status:**  This software is a work in progress.  At present the streaming node is functional with the sample cameras which are available to us (a [PHX122S](https://thinklucid.com/product/phoenix-12-2-mp-imx226/) and a [TRI054S](https://thinklucid.com/product/triton-5-mp-imx490/) for testing HDR modes).   The polled node is not functional.
 
-This repo is a ROS2 driver for LucidVision machine vision camera using their ["Arena" SDK for Ubuntu](https://thinklucid.com/downloads-hub/).
+---
+
+This package is a ROS2 driver for LucidVision machine vision camera using their ["Arena" SDK for Ubuntu](https://thinklucid.com/downloads-hub/).
 
 This particular version is forked from the upstream [driver published by LucidVision](https://github.com/lucidvisionlabs/arena_camera_ros2) and includes significant refactoring for functionality / readability.
 
+See also [arena_camera_ros](https://github.com/apl-ocean-engineering/arena_camera_ros) for ROS1.
+
 # Getting Started
 
 This package builds as a standard ROS2 package using `colcon`, however the [Arena SDK](https://thinklucid.com/downloads-hub/) must be installed.
@@ -14,7 +18,7 @@ See the [ROS2 documentation at LucidVision](https://support.thinklucid.com/using
 
 # Getting Started -- with Docker
 
-A full Dockerfile is included in the [.docker](.docker/) directory.  See the [README in that directory](.docker/README.md) for more details.
+A full [Dockerfile](.docker/Dockerfile) is included in the [.docker/](.docker/) directory.  See the [README in that directory](.docker/README.md) for more details.
 
 # Contents
 

arena_camera/CMakeLists.txt

@@ -23,6 +23,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
   ament_cmake
   camera_control_msgs
   camera_info_manager
+  diagnostic_msgs
   diagnostic_updater
   image_transport
   imaging_msgs

arena_camera/include/arena_camera/arena_camera_nodes.h

@@ -188,6 +188,13 @@ class ArenaCameraBaseNode : public rclcpp::Node {
   ///
   float currentGamma();
 
+  // ~~~ Camera Lookup Tables ~~~
+
+  ///  Enable/disable lookup table (LUT) in camera.
+  /// @param enable Whether to enable/disable the camera LUT
+  ///
+  void enableLUT(bool enable);
+
   // ~~~ HDR metadata (IMX490 only) ~~~
 
   float currentHdrGain(int channel);
@@ -253,12 +260,6 @@ class ArenaCameraBaseNode : public rclcpp::Node {
   //  */
   // float calcCurrentBrightness();
 
-  // /**
-  //  *  Enable/disable lookup table (LUT) in camera.
-  //  * @param enable Whether to enable/disable the camera LUT
-  //  */
-  // void enableLUT(bool enable);
-
  protected:
   /// @brief
   /// @param cam_info_msg
@@ -302,14 +303,9 @@ class ArenaCameraBaseNode : public rclcpp::Node {
   // std::vector<std::size_t> sampling_indices_;
   // // std::array<float, 256> brightness_exp_lut_;
 
-  // boost::recursive_mutex device_mutex_;
-
-  // /// diagnostics:
+  /// diagnostics:
   std::shared_ptr<diagnostic_updater::Updater> diagnostics_updater_;
 
-  // rclcpp::TimerBase::SharedPtr diagnostics_timer_;
-  // void updateDiagnosticsCb(void);
-
   void create_diagnostics(diagnostic_updater::DiagnosticStatusWrapper &stat);
   void create_camera_info_diagnostics(
       diagnostic_updater::DiagnosticStatusWrapper &stat);
@@ -353,14 +349,13 @@ class ArenaCameraStreamingNode : public ArenaCameraBaseNode {
   void newImageCb(Arena::IImage *pImage);
 };
 
+/// ArenaCameraPolledNode is not currently implemented.
 class ArenaCameraPolledNode : public ArenaCameraBaseNode {
  public:
   ArenaCameraPolledNode(
       const rclcpp::NodeOptions &options = rclcpp::NodeOptions());
   virtual ~ArenaCameraPolledNode();
 
-  // void onInit() override;
-
   /**
    * Callback for the grab images action
    * @param goal the goal

arena_camera/include/arena_camera/encoding_conversions.h

@@ -34,26 +34,27 @@
 namespace arena_camera {
 
 namespace encoding_conversions {
-/**
- * Converts an encoding from the sensor_msgs/image_encodings.h list into
- * the GenAPI language.
- * @return true in case that an corresponding conversion could be found and
- *         false otherwise.
- */
+
+/// Converts an encoding from the sensor_msgs/image_encodings.h list into
+/// the GenAPI language.
+///
+/// @return true in case that an corresponding conversion could be found and
+///        false otherwise.
+///
 bool ros2GenAPI(const std::string& ros_enc, std::string& gen_api_enc);
 
-/**
- * Converts an encoding described in GenAPI language into the ROS encoding
- * language. The ROS encodings are listed in sensor_msgs/image_encodings.h
- * @return true in case that an corresponding conversion could be found and
- *         false otherwise.
- */
+/// Converts an encoding described in GenAPI language into the ROS encoding
+/// language. The ROS encodings are listed in sensor_msgs/image_encodings.h
+///
+/// @return true in case that an corresponding conversion could be found and
+///         false otherwise.
+///
 bool genAPI2Ros(const std::string& gen_api_enc, std::string& ros_enc);
 
-///
 /// @brief Is the given ROS encoding an HDR type?
 ///
 /// @return true if ros_enc is an HDR image encoding
+///
 bool isHDR(const std::string& ros_enc);
 
 }  // namespace encoding_conversions

arena_camera/launch/streaming.launch.py

@@ -1,14 +1,29 @@
 # Copyright 2023 University of Washington
 #
-# Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
 #
-# 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+# 1. Redistributions of source code must retain the above copyright notice, this
+#    list of conditions and the following disclaimer.
 #
-# 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+#    this list of conditions and the following disclaimer in the documentation
+#    and/or other materials provided with the distribution.
 #
-# 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
+# 3. Neither the name of the copyright holder nor the names of its contributors
+#    may be used to endorse or promote products derived from this software
+#    without specific prior written permission.
 #
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS”
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 
 from launch import LaunchDescription

arena_camera/package.xml

@@ -17,6 +17,7 @@
 
   <depend>camera_control_msgs</depend>
   <depend>camera_info_manager</depend>
+  <depend>diagnostic_msgs</depend>
   <depend>diagnostic_updater</depend>
   <depend>generate_parameter_library</depend>
   <depend>image_transport</depend>