Time, camera exposure and video stabilization mode #97
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…syncing bebop time on start.
… Also included geometric camera calibration for bebop2
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Thank you for this PR. The proposed changes look good. I will review these as soon as possible. In the meantime:
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Thank you for feedback.
It also makes me think about rewriting the
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That would be great.
That is a great idea. All dynamically reconfigurable parameters are automatically extracted from the underlying's SDK's XML files (fetched directly from upstream SDK's repo from Github). I am not sure why there is no code generated for the method you used (
You are welcome. I will post any updates about if we can use the other model under this thread. |
…namic parameter PictureSettingsVideoStabilizationModeMode
mani-monaj
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Thank you again for this PR and the new changes. It looks good but requires few minor modifications and documentation update. I will merge it as soon as you get a chance to apply these changes.
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Could you please add an optional argument to bebop_driver launch files so someone can switch between Bebop 1 and 2. Based on that argument those launch files can load the appropriate camera calibration params.
| // Params (not dynamically reconfigurable, local) | ||
| // TODO(mani-monaj): Wrap all calls to .param() in a function call to enable logging | ||
| const bool param_reset_settings = private_nh.param("reset_settings", false); | ||
| const bool param_sync_time = private_nh.param("sync_time", false); |
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Could you please add this new param to the documentation?
| stop_autoflight_sub_ = nh.subscribe("autoflight/stop", 1, &BebopDriverNodelet::StopAutonomousFlightCallback, this); | ||
| animation_sub_ = nh.subscribe("flip", 1, &BebopDriverNodelet::FlipAnimationCallback, this); | ||
| snapshot_sub_ = nh.subscribe("snapshot", 10, &BebopDriverNodelet::TakeSnapshotCallback, this); | ||
| exposure_sub_ = nh.subscribe("set_exposure", 10, &BebopDriverNodelet::SetExposureCallback, this); |
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Could you please also add this new topic and range of accepted values to the documentation?
…ude sync_time parameter and set_exposure topic.
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I have added the argument to both launch files and documentation for the sync_time parameter and set_exposure topic. Let me know if there is something else. |
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| ROS_INFO("Setting exposure to %f", exposure_ptr->data); |
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It would be great to add a CLAMP here not to let any number outside the [-3.0..3.0] range to be passed.
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@fairf4x Thank you for applying the changes. I will test this changeset before the end of the week and will merge it afterwards. I will also create an issue to investigate why the code for setting the exposure is not automatically generated. |
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Hi,
I have implemented and tested some minor features I needed for my experiments:
parameter: sync_time (true/false)
It enables/disables time and date synchronization of drone during initialization.
topic: set_exposure (float from range <-3.0,3.0>)
Enables setting of camera exposure on demand.
topic: set_video_stabilization (uint8 - mode)
Enables setting video stabilization mode (also works for snapshots):
0 = roll_pitch: Video flat on roll and pitch
1 = pitch: Video flat on pitch only
2 = roll: Video flat on roll only
3 = none: Video follows drone angles
Added rough visual model to bebop 1 URDF description (works in RViz)
Added camera calibration file for bebop 2