Merge pull request #131 from neufieldrobotics/dev

Adding docker credentials to overcome rate limits, adding compatibili…
neufieldrobotics · Jun 20, 2021 · 9c96330 · 9c96330
2 parents f6ab290 + 8d03e96
commit 9c96330
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diff --git a/.travis.yml b/.travis.yml
@@ -21,6 +21,7 @@ matrix:
      env : DOCKER_IMAGE=arm64v8/ros:melodic-perception-bionic SPINNAKER_VERSION=2.0.0.147
 
 before_install:
+- echo "$DOCKER_PASSWORD" | docker login -u "$DOCKER_USERNAME" --password-stdin
 - docker pull $DOCKER_IMAGE
 
 script:

diff --git a/README.md b/README.md
@@ -8,16 +8,16 @@ These are the ros drivers for running the Pt Grey (FLIR) cameras that use the Sp
 ## Compatibility Matrix
 | Spinnaker | Architecture | Ubnuntu 16.04 Xenial +<br>ROS Kinetic  | Ubnuntu 18.04 Bionic +<br>ROS Melodic | Ubnuntu 20.04 Focal +<br>ROS Noetic |
 |-----------|:------------:|:--------------------------------------:|:-------------------------------------:|:-----------------------------------:|
-| 1.17.0.23 | AMD64        | :heavy_check_mark:                     |:heavy_minus_sign:                     |:heavy_minus_sign:                   |
-| 1.17.0.23 | ARM64        | :heavy_check_mark:                     |:heavy_minus_sign:                     |:heavy_minus_sign:                   |
-| 1.24.0.60 | AMD64        | :heavy_check_mark:                     |:heavy_minus_sign:                     |:heavy_minus_sign:                   |
-| 1.24.0.60 | ARM64        | :heavy_check_mark:                     |:heavy_minus_sign:                     |:heavy_minus_sign:                   |
-| 2.0.0.147 | AMD64        | :heavy_check_mark:                     |:white_check_mark:                     |:heavy_minus_sign:                   |
-| 2.0.0.147 | ARM64        | :heavy_check_mark:                     |                                       |:heavy_minus_sign:                   |
-| 2.2.0.48  | AMD64        | :heavy_minus_sign:                     |:heavy_check_mark:                     |                                     |
+| 1.17.0.23 | AMD64        | :heavy_check_mark:                     | :heavy_minus_sign:                    | :heavy_minus_sign:                  |
+| 1.17.0.23 | ARM64        | :heavy_check_mark:                     | :heavy_minus_sign:                    | :heavy_minus_sign:                  |
+| 1.24.0.60 | AMD64        | :heavy_check_mark:                     | :heavy_minus_sign:                    | :heavy_minus_sign:                  |
+| 1.24.0.60 | ARM64        | :heavy_check_mark:                     | :heavy_minus_sign:                    | :heavy_minus_sign:                  |
+| 2.0.0.147 | AMD64        | :heavy_check_mark:                     | :white_check_mark:                    | :heavy_minus_sign:                  |
+| 2.0.0.147 | ARM64        | :heavy_check_mark:                     |                                       | :heavy_minus_sign:                  |
+| 2.2.0.48  | AMD64        | :heavy_minus_sign:                     | :heavy_check_mark:                    | :white_check_mark:                  |
 | 2.2.0.48  | ARM64        | :heavy_minus_sign:                     |                                       |                                     |
-| 2.3.0.77  | AMD64        | :heavy_minus_sign:                     |                                       |                                     |
-| 2.3.0.77  | ARM64        | :heavy_minus_sign:                     |                                       |                                     |
+| 2.3.0.77  | AMD64        | :heavy_minus_sign:                     |                                       | :x:                                 |
+| 2.3.0.77  | ARM64        | :heavy_minus_sign:                     | :x:                                   |                                     |
 
 :heavy_check_mark: Tested 
 :heavy_minus_sign: Not Applicable 

diff --git a/include/spinnaker_sdk_camera_driver/capture.h b/include/spinnaker_sdk_camera_driver/capture.h
@@ -109,7 +109,6 @@ namespace acquisition {
         int nframes_;
         float init_delay_;
         int skip_num_;
-        float master_fps_;
         int binning_;
         bool color_;
         string dump_img_;
@@ -133,7 +132,6 @@ namespace acquisition {
         bool EXTERNAL_TRIGGER_;
         bool SAVE_;
         bool SAVE_BIN_;
-        bool MANUAL_TRIGGER_;
         bool LIVE_;
         bool CAM_DIRS_CREATED_;
         bool GRID_VIEW_;

diff --git a/package.xml b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>spinnaker_sdk_camera_driver</name>
-  <version>1.1.0</version>
+  <version>1.1.1</version>
   <description>Point Grey (FLIR) Spinnaker based camera driver (Blackfly S etc.)</description>
 
   <maintainer email="[email protected]">Vikrant Shah</maintainer>

diff --git a/src/capture.cpp b/src/capture.cpp
@@ -97,7 +97,6 @@ void acquisition::Capture::init_variables_register_to_ros() {
     region_of_interest_set_ = false;
     skip_num_ = 20;
     init_delay_ = 1;
-    master_fps_ = 20.0;
     binning_ = 1;
     SPINNAKER_GET_NEXT_IMAGE_TIMEOUT_ = 2000;
     todays_date_ = todays_date();
@@ -126,7 +125,6 @@ void acquisition::Capture::init_variables_register_to_ros() {
 
     // default flag values
 
-    MANUAL_TRIGGER_ = false;
     CAM_DIRS_CREATED_ = false;
 
     GRID_CREATED_ = false;
@@ -385,8 +383,9 @@ void acquisition::Capture::read_parameters() {
               found = true;
       }
       ROS_ASSERT_MSG(found,"Specified master cam is not in the cam_ids list!");
+
     }
-	
+
     if (nh_pvt_.getParam("utstamps", MASTER_TIMESTAMP_FOR_ALL_)){
         MASTER_TIMESTAMP_FOR_ALL_ = !MASTER_TIMESTAMP_FOR_ALL_;
         ROS_INFO("  Unique time stamps for each camera: %s",!MASTER_TIMESTAMP_FOR_ALL_?"true":"false");
@@ -462,15 +461,6 @@ void acquisition::Capture::read_parameters() {
         }
     } else ROS_WARN("  'delay' Parameter not set, using default behavior: delay=%f",init_delay_);
 
-    if (nh_pvt_.getParam("fps", master_fps_)){
-        if (master_fps_>=0) ROS_INFO("  Master cam fps set to : %0.2f",master_fps_);
-        else {
-            master_fps_=20;
-            ROS_WARN("  Provided 'fps' is not valid, using default behavior, fps=%0.2f",master_fps_);
-        }
-    }
-        else ROS_WARN("  'fps' Parameter not set, using default behavior: fps=%0.2f",master_fps_);
-
     if (nh_pvt_.getParam("exposure_time", exposure_time_)){
         if (exposure_time_ >0) ROS_INFO("  Exposure set to: %.1f",exposure_time_);
         else ROS_INFO("  'exposure_time'=%0.f, Setting autoexposure",exposure_time_);
@@ -489,7 +479,6 @@ void acquisition::Capture::read_parameters() {
         else ROS_INFO("  'target_grey_value'=%0.f, Setting AutoExposureTargetGreyValueAuto to Continuous/ auto",target_grey_value_);} 
     else ROS_WARN("  'target_grey_value' Parameter not set, using default behavior: AutoExposureTargetGreyValueAuto to auto");
 
-
     if (nh_pvt_.getParam("binning", binning_)){
         if (binning_ >0) ROS_INFO("  Binning set to: %d",binning_);
         else {
@@ -499,13 +488,13 @@ void acquisition::Capture::read_parameters() {
     } else ROS_WARN("  'binning' Parameter not set, using default behavior: Binning = %d",binning_);
 
     if (nh_pvt_.getParam("soft_framerate", soft_framerate_)){
-        if (soft_framerate_ >0) {
-            SOFT_FRAME_RATE_CTRL_=true;
-            ROS_INFO("  Using Software rate control, rate set to: %d",soft_framerate_);
-        }
-        else ROS_INFO("  'soft_framerate'=%d, software rate control set to off",soft_framerate_);
+      if (soft_framerate_ >0) {
+          SOFT_FRAME_RATE_CTRL_=true;
+          ROS_INFO("  Using Software rate control, rate set to: %d",soft_framerate_);
+      }
+      else ROS_INFO("  'soft_framerate'=%d, software rate control set to off",soft_framerate_);
     }
-    else ROS_WARN("  'soft_framerate' Parameter not set, using default behavior: No Software Rate Control ");
+    else ROS_WARN("  'soft_framerate' Parameter not set, using default behavior: No Software Rate Control ");    
 
     if (nh_pvt_.getParam("save", SAVE_)) 
         ROS_INFO("  Saving images set to: %d",SAVE_);
@@ -837,6 +826,7 @@ void acquisition::Capture::save_mat_frames(int dump) {
         create_cam_directories();
 
     string timestamp;
+    mesg.name.clear();
     for (unsigned int i = 0; i < numCameras_; i++) {
 
         if (dump) {
@@ -879,7 +869,8 @@ void acquisition::Capture::export_to_ROS() {
             else if (latest_imu_trigger_count_ - prev_imu_trigger_count_ == 0){
                 double wait_time_start = ros::Time::now().toSec();
                 ROS_WARN("Difference in trigger count zero, latest_count = %d and prev_count = %d",latest_imu_trigger_count_,prev_imu_trigger_count_);
-                while(latest_imu_trigger_count_ - prev_imu_trigger_count_ == 0){	
+                while(latest_imu_trigger_count_ - prev_imu_trigger_count_ == 0){
+
                     ros::Duration(0.0001).sleep();
                 }
                 ROS_INFO_STREAM("Time gap for sync messages: "<<ros::Time::now().toSec() - wait_time_start);
@@ -924,6 +915,7 @@ void acquisition::Capture::save_binary_frames(int dump) {
         create_cam_directories();
 
     string timestamp;
+    mesg.name.clear();
     for (unsigned int i = 0; i < numCameras_; i++) {
 
         if (dump) {
@@ -1065,20 +1057,17 @@ void acquisition::Capture::run_soft_trig() {
                 } else if( (key & 255)==81 ) { // LEFT ARROW
                     if (CAM_>0)
                         CAM_--;
-                } else if( (key & 255)==84 && MANUAL_TRIGGER_) { // t
-                    cams[MASTER_CAM_].trigger();
-                    get_mat_images();
                 } else if( (key & 255)==32 && !SAVE_) { // SPACE
                     ROS_INFO_STREAM("Saving frame...");
                     if (SAVE_BIN_)
                         save_binary_frames(0);
-                        else{
-                            save_mat_frames(0);
-                            if (!EXPORT_TO_ROS_){
-                                ROS_INFO_STREAM("Exporting frames to ROS...");
-                                export_to_ROS();
-                            }
+                    else{
+                        save_mat_frames(0);
+                        if (!EXPORT_TO_ROS_){
+                            ROS_INFO_STREAM("Exporting frames to ROS...");
+                            export_to_ROS();
                         }
+                    }
                 } else if( (key & 255)==27 ) {  // ESC
                     ROS_INFO_STREAM("Terminating...");
                     cvDestroyAllWindows();
@@ -1091,12 +1080,11 @@ void acquisition::Capture::run_soft_trig() {
             double disp_time_ = ros::Time::now().toSec() - t;
 
             // Call update functions
-            if (!MANUAL_TRIGGER_) {
-                if (!EXTERNAL_TRIGGER_) {
-                    cams[MASTER_CAM_].trigger();
-                }
-                get_mat_images();
+
+            if (!EXTERNAL_TRIGGER_) {
+                cams[MASTER_CAM_].trigger();
             }
+            get_mat_images();
 
             if (SAVE_) {
                 count++;
@@ -1107,7 +1095,7 @@ void acquisition::Capture::run_soft_trig() {
             }
 
             if (FIXED_NUM_FRAMES_) {
-                cout<<"Nframes "<< nframes_<<endl;
+                ROS_INFO_STREAM(" Recorded frames "<<count<<" / "<<nframes_);
                 if (count > nframes_) {
                     ROS_INFO_STREAM(nframes_ << " frames recorded. Terminating...");
                     cvDestroyAllWindows();
@@ -1133,8 +1121,7 @@ void acquisition::Capture::run_soft_trig() {
 
             achieved_time_=ros::Time::now().toSec();
 
-            if (SOFT_FRAME_RATE_CTRL_) {ros_rate.sleep();}
-
+            if (!EXTERNAL_TRIGGER_ && SOFT_FRAME_RATE_CTRL_) {ros_rate.sleep();}
         }
     }
     catch(const std::exception &e){