switch camera format

[AndreV84]

how could we use type different than [bayer_rggb8] ? Thanks

[berndpfrommer]

Please pull and have a look at the blackfly_s launch file for hints on how to change the pixel format. I have tested the subset of pixel formats that are both supported by ROS and the BlackFly S. If you need other formats: look at PR #34 and add the formats you need to both the flir_spinnaker_common and flir_spinnaker_ros2.

[AndreV84]

@berndpfrommer Could you extend on the following, please? from devs: " why the /camera_info topic is not publishing the actual resolution that camera is set to"? Thanks AV

[berndpfrommer]

Were you able to switch pixel formats successfully?

[AndreV84]

yes, it was implemented somehow by folks to switch the format thank you

[berndpfrommer]

The camera_info topic is garbage until you provide a proper calibration file. Then camera_info will have the right resolution, the k-matrix etc.

[AndreV84]

@berndpfrommer could you point out how could we tune exposure parameters of the camera? Thanks

[berndpfrommer]

The ROS2 driver itself itself is just a thin wrapper that supports close to nothing by default. You will need to add ROS2 parameters yourself by editing the config files. This is a multi-step process: 1) Go into SpinView and find the exact names of the fields you want to tune. 2) Map the SpinView fields to a ROS2 parameter via the config file for your camera. For instance the "exposure_time" field has already been mapped in the config file for the blackfly S: https://github.com/berndpfrommer/flir_spinnaker_ros2/blob/master/config/blackfly_s.cfg Any other things you want to tune, you add them there. 3) Pass the parameters to the driver in the launch file (see blackfly_s launch file for example)

Once the driver has started, you can run "ros2 run rqt_reconfigure rqt_reconfigure" to change the parameters on the fly.