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ros-drivers / openni2_camera

ROS wrapper for openni 2.0
http://wiki.ros.org/openni2_camera
BSD 3-Clause "New" or "Revised" License
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Fails to set RGB exposure on before image streaming #51

Closed shaun-edwards closed 6 years ago

shaun-edwards commented 7 years ago

I would like to set the RGB exposure level on startup. I am using ROS Indigo on Ubuntu 14.04 (openni2_camera package built from source). The exposure level cannot be set unless the camera is actively streaming data, see Openni2 issue. However, even if that issue is resolved, setting exposure on start up will still fail (but in a different way).

The driver either ignores the exposure setting or perhaps after it is fixed returns an error. Due to the change detection logic, here, the dynamic reconfigure will not re-set the exposure unless the exposure is specifically changes. As a result there value reflected in dynamic reconfigure does not match the value in the low level driver.

I believe this should mostly be fixed in the low level driver code, but the change detection logic should probably be reworked to avoid similar "hidden" bugs.

shaun-edwards commented 7 years ago

A potential work-around is to set the exposure in the ColorConnectCb() method directly on stream start.

shaun-edwards commented 7 years ago

Setting the exposure in the callback works as long as there is a small delay after the stream is started.

NOTE: Mixing auto white balance and fixed exposure setting rejected by the camera. If white balance is used at all, the exposure setting is inconsistent. If using a fixed exposure, it is recommended that auto white balance be disabled on startup.

130s commented 6 years ago

Fixed via https://github.com/ros-drivers/openni2_camera/pull/53