ROS driver for OpenMV Cam H7 R2, including support for thermal vision with FLIR Lepton adapter module.
- Connect camera via USB
- Copy
camera_script/main.py
to the USB drive of the camera - Unmount camera
- Reconnect camera
- openmv as submodule
cd $COLCON_WS/src
git clone --recursive https://github.com/107-systems/l3xz_openmv_camera
cd $COLCON_WS
source /opt/ros/humble/setup.bash
PYTHONWARNINGS=ignore:::setuptools.command.install,ignore:::setuptools.command.easy_install,ignore:::pkg_resources colcon build --packages-select l3xz_openmv_camera
cd $COLCON_WS
. install/setup.bash
ros2 run l3xz_openmv_camera l3xz_openmv_camera
Default name | Type | Description |
---|---|---|
/l3xz/openmv/image_color |
sensor_msgs/Image |
Camera image |
/l3xz/openmv/image_color_compressed |
sensor_msgs/CompressedImage |
JPEG compressed image |
/l3xz/openmv_camera_info |
sensor_msgs/CameraInfo |
Camera info |
/l3xz/openmv/input_n |
std_msgs/Bool |
State of GPIO configured as input |
Default name | Description |
---|---|
/l3xz/openmv/rgb |
Set binary values to RGB LED |
/l3xz/openmv/ir |
Set IR LED |
/l3xz/openmv/gpio_config |
Configure GPIO pin |
/l3xz/openmv/gpio_set |
Set GPIO pin configured as output |
Name | Default | Description |
---|---|---|
image_topic |
image_color |
RGB image |
image_queue |
1 | Queue size for RGB image topic |
info_topic |
camera_info |
Camera configuration |
info_queue |
1 | Queue size for camera info topic |
show_image |
false |
Show RGB image in OpenCV window |
port |
/dev/ttyACM0 |
Serial port of camera |
frames_hz |
10 | fps |
gpio_hz |
1 | GPIO update rate |
frame_id |
openmv_camera_frame |
camera tf frame |
resolution |
QQVGA |
image resolution |