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allenh1 / p2os

P2OS ROS driver for Groovy and later.
http://wiki.ros.org/p2os-purdue
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PTZ camera connection #43

Open Jhony-Ferreira opened 7 years ago

Jhony-Ferreira commented 7 years ago

Hi, I am working with the p2os_driver on a seekur_jr robot. (ROS-GROOVY, UBUNTU 12.04) I have successfully moved the robot with the teleop_keyboard launch. (using serial port ttyS0)

But I haven't found a way to pan,tilt and zoom the PTZ camera using p2os_driver. I've a node written by myself which publishes a PTZ_state msg on /ptz_control topic. When I publish a msg on /ptz_control, the /ptz_state topic changes its values either, but the camera does not move.

Maybe the commands I am sending to /ptz_control are not being effective because the ptz port configuration is wrong. The PTZ camera is a rvision connected to the COM4 (ttyS3) serial port. I would like to know what is the port the p2os_driver expects the ptz camera to be connected, and also how I could change this parameter.

I've checked the p2os_ptz.cc and p2os.cc codes to see if I could change this parameter. It appears the ptz msgs comes from the aux serial port. If it is possible, how could I configure it to communicate with ttyS3 port?

Thank you, Jhony Ferreira

aline-fidencio commented 7 years ago

Hi everyone,

I am facing the same problem. I publish on the ptz_control topic but the RVision camera does not move. Anyone that could help us ? Give us some ideas....

EDIT: I came to the same conclusion that Jhony: p2os_driver looks for the camera in the aux port. How do we make it look to the COM4 port?

Kind regards,

Aline

allenh1 commented 7 years ago

Hey, sorry everyone. Been super busy. I'd definitely like to see work on this, but I don't have a camera could use to develop this. I also lack a lot of knowledge wrt PTZ cameras.

aline-fidencio commented 7 years ago

Hi Hunter! Thanks for showing up...

I also don't know how to deal with PTZ cameras.. first time...

I tried to understand the ptz_control node but I couldn't move forward... I have no idea how to make it send the commands to the COM4.. there is no command in the p2os driver to communicate directly with usual serial ports?