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main_camera.launch: run image_raw_throttled topic by default (#248)

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Oleg Kalachev
2022-10-12 00:25:12 +06:00
committed by GitHub
parent c0707e066a
commit eb448ae0e7
4 changed files with 13 additions and 0 deletions
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6
clover/launch/main_camera.launch
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@@ -4,6 +4,8 @@
<arg name="direction_z" default="down"/> <!-- direction the camera points: down, up --> <arg name="direction_z" default="down"/> <!-- direction the camera points: down, up -->
<arg name="direction_y" default="backward"/> <!-- direction the camera cable points: backward, forward --> <arg name="direction_y" default="backward"/> <!-- direction the camera cable points: backward, forward -->
<arg name="device" default="/dev/video0"/> <!-- v4l2 device --> <arg name="device" default="/dev/video0"/> <!-- v4l2 device -->
<arg name="throttled_topic" default="true"/> <!-- enable throttled image topic -->
<arg name="throttled_topic_rate" default="5.0"/> <!-- throttled image topic rate -->
<arg name="simulator" default="false"/> <arg name="simulator" default="false"/>
<node if="$(eval direction_z == 'down' and direction_y == 'backward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 -1.5707963 0 3.1415926 base_link main_camera_optical"/> <node if="$(eval direction_z == 'down' and direction_y == 'backward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 -1.5707963 0 3.1415926 base_link main_camera_optical"/>
@@ -43,4 +45,8 @@
<node pkg="clover" type="camera_markers" ns="main_camera" name="main_camera_markers"> <node pkg="clover" type="camera_markers" ns="main_camera" name="main_camera_markers">
<param name="scale" value="3.0"/> <param name="scale" value="3.0"/>
</node> </node>
<!-- image topic throttled -->
<node pkg="topic_tools" name="main_camera_throttle" type="throttle" ns="main_camera"
args="messages image_raw $(arg throttled_topic_rate) image_raw_throttled" if="$(arg throttled_topic)"/>
</launch> </launch>

3
clover/test/basic.test
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@@ -37,6 +37,9 @@
<node name="clover_blocks" pkg="clover_blocks" type="clover_blocks" output="screen" required="true"/> <node name="clover_blocks" pkg="clover_blocks" type="clover_blocks" output="screen" required="true"/>
<node pkg="topic_tools" name="main_camera_throttle" type="throttle" ns="main_camera"
args="messages image_raw 5.0 image_raw_throttled" required="true"/>
<param name="test_module" value="$(find clover)/test/basic.py"/> <param name="test_module" value="$(find clover)/test/basic.py"/>
<test test-name="basic_test" pkg="ros_pytest" type="ros_pytest_runner"/> <test test-name="basic_test" pkg="ros_pytest" type="ros_pytest_runner"/>
</launch> </launch>

2
docs/en/camera.md
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@@ -145,6 +145,8 @@ rospy.spin()
The script will take up to 100% CPU capacity. To slow down the script artificially, you can use [throttling](http://wiki.ros.org/topic_tools/throttle) of frames from the camera, for example, at 5 Hz (`main_camera.launch`): The script will take up to 100% CPU capacity. To slow down the script artificially, you can use [throttling](http://wiki.ros.org/topic_tools/throttle) of frames from the camera, for example, at 5 Hz (`main_camera.launch`):
> **Note** Starting from [image](image.md) version **0.24** `image_raw_throttled` topic is available without addition configuration.
```xml ```xml
<node pkg="topic_tools" name="cam_throttle" type="throttle" <node pkg="topic_tools" name="cam_throttle" type="throttle"
args="messages main_camera/image_raw 5.0 main_camera/image_raw_throttled"/> args="messages main_camera/image_raw 5.0 main_camera/image_raw_throttled"/>

2
docs/ru/camera.md
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@@ -147,6 +147,8 @@ rospy.spin()
Скрипт будет занимать 100% процессора. Для искусственного замедления работы скрипта можно запустить [throttling](http://wiki.ros.org/topic_tools/throttle) кадров с камеры, например, в 5 Гц (`main_camera.launch`): Скрипт будет занимать 100% процессора. Для искусственного замедления работы скрипта можно запустить [throttling](http://wiki.ros.org/topic_tools/throttle) кадров с камеры, например, в 5 Гц (`main_camera.launch`):
> **Note** Начиная с версии [образа](image.md) **0.24** топик `image_raw_throttled` доступен без дополнительной конфигурации.
```xml ```xml
<node pkg="topic_tools" name="cam_throttle" type="throttle" <node pkg="topic_tools" name="cam_throttle" type="throttle"
args="messages main_camera/image_raw 5.0 main_camera/image_raw_throttled"/> args="messages main_camera/image_raw 5.0 main_camera/image_raw_throttled"/>