Resolve missing config file

config/camera_default_parameters.yaml

@@ -3,6 +3,7 @@
 
 /ifm3d/camera:
   ros__parameters:
+    config_file: "config/o3r_config/o3r_config.json" # ensure an absolute path here
     buffer_id_list:
       - CONFIDENCE_IMAGE
       - EXTRINSIC_CALIB
@@ -15,7 +16,7 @@
       - TOF_INFO
       - XYZ
     ip: 192.168.0.69
-    pcic_port: 50010
+    pcic_port: 50012
     tf:
       base_frame_name: "ifm_base_link"
       mounting_frame_name: "camera_mounting_link"

config/o3r_config/o3r_config.json

@@ -0,0 +1,11 @@
+{
+    "ports": {
+        "port2": {
+            "processing": {
+                "extrinsicHeadToUser": {
+                    "transZ": 1
+                }
+            }
+        }
+    }
+}

config/o3r_config/ods_config.json

@@ -0,0 +1,12 @@
+{
+    "applications": {
+        "instances": {
+            "app0": {
+                "ports": [
+                    "port2",
+                    "port6"
+                ]
+            }
+        }
+    }
+}

config/ods_default_parameters.yaml

@@ -6,7 +6,7 @@
 
 /ifm3d/ods:
   ros__parameters:
-    config_file: "config/examples/o3r_ods.json"
+    config_file: "config/o3r_config/ods_config.json" #ensure an absolute path here
     ip: 192.168.0.69
     pcic_port: 51010
     ods:

doc/camera_node/launch.md

@@ -66,6 +66,43 @@ To visualize the data with RViz, set the `visualization` argument of the launch
 $ ros2 launch ifm3d_ros2 camera.launch.py visualization:=true
 ```
 
+# Configuration
+
+The camera parameters can be configured, wheter extrinsic calibration or acquisition parameters to filtering parameters.
+There are multiple ways to do that that we are describin in the following undersections
+
+## Using the Vision Assistant
+
+We typically recommend to use the ifm Vision Assistant, which is ifm's official GUI for interfacing with all the vision products.
+
+To get started with Vision Assistant, refer to [the Introduction to the ifmVisionAssistant](https://ifm3d.com/latest/SoftwareInterfaces/iVA/introduction_and_installation.html).
+And then to change parameters, refer to [changin parameters using ifm Vision Assistant](https://ifm3d.com/latest/SoftwareInterfaces/iVA/changing_parameters.html) After following these instructions, you will have set up and properly configured camera ports parameters.
+
+## Using the `Config` service
+
+It is also possible to configure an application directly using the `ifm3d-ros2` service `Config`.
+We recommend to use this method when re-configuring the application at runtime, for example to change the active ports.
+
+In this case, you can use the following command.
+This will switch the `activePort` parameter of the application `app0` to `"port3"`.
+```bash
+$ ros2 service call /ifm3d/camera/Config ifm3d_ros2/srv/Config "{json: '{\"ports\":{\"port2\":{\"processing\":{\"extrinsicHeadToUser\":{\""transZ"\":1}}}}}'}"
+requester: making request: ifm3d_ros2.srv.Config_Request(json='{"ports":{"port2":{"processing":{"extrinsicHeadToUser":{"transZ":1}}}}}')
+
+response:
+ifm3d_ros2.srv.Config_Response(status=0, msg='OK')
+
+```
+
+## Using the `config_file` parameter
+
+Additionally, it is possible to configure an application (or any other aspect of the system) using a configuration file, provided through the `config_file` parameter in the `ods_default_parameters.yaml` file.
+This configuration file will be used to set the configuration in the `on_configuration` transition of the node.
+To re-configure a node using a new configuration file, the `on_configuration` transition has to be triggered again.
+
+:::{note}
+Ensure to provide the absolute path for the `config_file` parameter in the `ods_default_parameters.yaml` file. If a relative path is used, make sure to run the launch file from the directory corresponding to the relative path.
+:::
 
 ![rviz1](./figures/O3R_merged_point_cloud.png)
 

doc/ods_node/ods_configuration.md

@@ -33,6 +33,10 @@ ifm3d_ros2.srv.Config_Response(status=0, msg='OK')
 
 ## Using the `config_file` parameter
 
-Additionally, it is possible to configure an application (or any other aspect of the system) using a configuration file, provided through the `config_file` parameter.
+Additionally, it is possible to configure an application (or any other aspect of the system) using a configuration file, provided through the `config_file` parameter in the `ods_default_parameters.yaml` file.
 This configuration file will be used to set the configuration in the `on_configuration` transition of the node.
-To re-configure a node using a new configuration file, the `on_configuration` transition has to be triggered again.
+To re-configure a node using a new configuration file, the `on_configuration` transition has to be triggered again.
+
+:::{note}
+Ensure to provide the absolute path for the `config_file` parameter in the `ods_default_parameters.yaml` file. If a relative path is used, make sure to run the launch file from the directory corresponding to the relative path.
+:::

src/lib/camera_node.cpp

@@ -103,7 +103,7 @@ TC_RETVAL CameraNode::on_configure(const rclcpp_lifecycle::State& prev_state)
     }
     std::stringstream buffer;
     buffer << file.rdbuf();
-    RCLCPP_INFO(this->logger_, "Setting configuration: %s",  buffer.str().c_str());
+    RCLCPP_DEBUG(this->logger_, "Setting configuration: %s",  buffer.str().c_str());
     ifm3d::json config_json = json::parse(buffer.str()) ;
     this->o3r_->Set(config_json);
   }

src/lib/ods_node.cpp

@@ -107,7 +107,7 @@ TC_RETVAL OdsNode::on_configure(const rclcpp_lifecycle::State& prev_state)
     }
     std::stringstream buffer;
     buffer << file.rdbuf();
-    RCLCPP_INFO(this->logger_, "Setting configuration: %s",  buffer.str().c_str());
+    RCLCPP_DEBUG(this->logger_, "Setting configuration: %s",  buffer.str().c_str());
     ifm3d::json config_json = json::parse(buffer.str()) ;
     this->o3r_->Set(config_json);
   }
@@ -321,6 +321,11 @@ void OdsNode::init_params()  // TODO cleanup params
    *   - Define Descriptor
    *   - Declare Parameter
    */
+  rcl_interfaces::msg::ParameterDescriptor config_descriptor;
+  config_descriptor.name = "config_file";
+  config_descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
+  config_descriptor.description = "Configuration file, in JSON format.";
+  this->declare_parameter("config_file", "", config_descriptor);
 
   rcl_interfaces::msg::ParameterDescriptor ip_descriptor;
   ip_descriptor.name = "ip";