Config setting regarding camera_info_url

basler / pylon-ros-camera

The official pylon ROS driver for Basler GigE Vision and USB3 Vision cameras:

http://www.baslerweb.com

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Config setting regarding camera_info_url #173

Open purple-mesh opened 1 year ago

purple-mesh commented 1 year ago

ROS version and distro: ROS 2 humble (using the humble branch in the repo)
Parameter in pylon-ros-camera/pylon_ros2_camera_wrapper/config/default.yaml

It mentions that:

    #  The CameraInfo URL (Uniform Resource Locator) where the optional intrinsic
    #  camera calibration parameters are stored. This URL string will be parsed
    #  from the ROS-CameraInfoManager:
    camera_info_url: "file:///path/to/my/file.yaml"

But I ended up having to tweak the src/pylon-ros-camera/pylon_ros2_camera_wrapper/launch/pylon_ros2_camera.launch.py launch script to include this as its own LaunchConfiguration.

I think I am missing something here, since I assumed that no further tweaks would be required to load in the camera intrinsic matrix?

FrancoisPicardDTI commented 1 year ago

Hello @purple-mesh Can you then attached the tweaked launch file? Did you move forward with this issue? Regards, Francois

purple-mesh commented 1 year ago

Hi @FrancoisPicardDTI

The updated version of the launch file which I use now is available here

No more issues after changing to use this.

But let me know if there was another way this was meant to be used.

FrancoisPicardDTI commented 9 months ago

Hi @purple-mesh Trying to reproduce the issue here, without success for now.

In my .yaml file: camera_info_url: "file:///ros2/temp/basler_usb_with_xxmm_lens_calibrationdata_2010_01_01/ost.yaml"
When I am starting the driver, in my terminal: [pylon_ros2_camera_wrapper-1] 1702047125.006242135 [my_camera.pylon_ros2_camera_node] [INFO] camera calibration URL: file:///ros2/temp/basler_usb_with_xxmm_lens_calibrationdata_2010_01_01/ost.yaml

Do you see this message in your teminal without your hack?

purple-mesh commented 9 months ago

Hi @FrancoisPicardDTI thanks for looking into this, sorry I haven't had a chance to get back to testing this, but will aim to test this again in Jan 2024.

FrancoisPicardDTI commented 7 months ago

Hi @purple-mesh Did you have the chance to test on your side?

jordigc2 commented 6 months ago

Hello,

Are there any updates regarding this? I am facing the same issue using ROS2 Humble.

purple-mesh commented 5 months ago

Apologies @FrancoisPicardDTI for the belated response. I have since been re-assigned to another project for now, so no longer have access to the original test-rig and computer(s).

@jordigc2 I presume you have the same issue, and were you able to fix it by updating the launch file / launch script?