HARMONI Camera
The harmoni_camera package provides a simple wrapper around the camera for publishing images.
You can run this module in both harmoni_full and harmoni_hardware containers.
Usage
The following documentation refers to the Camera request.
The API for Camera has:
Request Name: ActionType: START (to start the Camera sensing)
Body: no body
Response: no response only State (int)
Request Name: ActionType: STOP (to stop the Camera sensing)
Body: no body
Response: no response only State (int)
Configure harfware using the guide Run using
roslaunch harmoni_camera camera_service.launch
Parameters
Parameters |
Definition |
Value |
|---|---|---|
input_device_index |
index of the camera device |
int; 0 |
show |
if it is true it show the camera view |
bool; True |
video_format |
the format of the image camera |
string; “bgr8” |
fps |
frames per second |
int; 30 |
test_outdir |
output directory of the image for testing |
string; “$(find harmoni_camera)/temp_data/test_example.png” |
Testing
Module can be tested using
rostest harmoni_camera camera.test