oCamS_ROS_Package

oCam-Stereo ROS Package

oCamS ROS control program

Release Note

2019.05.23

• Added StereoMatching Mode(Depth map, Disparity map)

2017.11.24

• Added IMU mode (AMGQUA, LMGQUA)
• Camera default setting changed

2017.07.19

• Support for the oCamS-1CGN-U_R1707
• Auto-Exposure
• Added 640x360 resolution and more frame rates
• Camera controller

2017.05.23

• Support for the oCamS-1CGN-U

Requirements

• ROS
• Linux OS
• libv4l (Video for Linux Two)
• libudev (udev, the device manager for the Linux kernel)

ROS & oCam ROS Package installation

1. ROS install (If ROS is already installed on your PC, just skip it.)

• Refer to the following tutorial.
  http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment
• We recommend you to install ROS kinetic version.

2. oCamS ROS Package download and install

2.1 Download and install required library from linux package manager(e.g. apt)

$ sudo apt-get install libv4l-dev libudev-dev ros-kinetic-rtabmap*

2.2 Download source tree from github

• using SVN checkout

$ cd YOUR_WORKING_DIRECTORY (ex. $ cd ~/catkin_ws/src/)
$ svn export https://github.com/withrobot/oCamS/trunk/Software/oCamS_ROS_Package/ocams_1cgn

2.3 Build

$ cd YOUR_CATKIN_WORKSPACE (ex. $ cd ~/catkin_ws/)
$ catkin_make
$ source devel/setup.bash

3. Run
oCamS-1CGN-U sends IMU data through Virtual COM port.
So, user needs to write following rules into udev rule file like below.

$ sudo vi /etc/udev/rules.d/99-ttyacms.rules
ATTRS{idVendor}=="04b4" ATTRS{idProduct}=="00f9", MODE="0666", ENV{ID_MM_DEVICE_IGNORE}="1"
ATTRS{idVendor}=="04b4" ATTRS{idProduct}=="00f8", MODE="0666", ENV{ID_MM_DEVICE_IGNORE}="1"
$ sudo udevadm control –reload-rules

And, run...

$ roslaunch ocams_1cgn ocams_ros.launch

Update Firmware

1. Firmware update on Windows OS

• You can find the latest firmware at https://github.com/withrobot/oCamS/blob/master/Firmware
  (The latest firmware version is oCamS-1CGN-U_R1707_170719)
  • Correct file for the oCamS-1CGN-U should be selected for the firmware update
• You can find the firmware writing program at https://github.com/withrobot/oCamS/tree/master/Firmware/Update_FW
  
  • Uncompress the downloaded "UpdateFW.zip"
    
  • Follow the instruction described at https://github.com/withrobot/oCamS/tree/master/Firmware