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  1. --------------------------------------------------------------------------------
  2. LAUNCH FILE:
  3. --------------------------------------------------------------------------------
  4. <launch>
  5. <group ns="camera">
  6. <node pkg="libuvc_camera" type="camera_node" name="realsense">
  7. <!-- Parameters used to find the camera -->
  8. <param name="vendor" value="0x8086"/>
  9. <param name="product" value="0x0a80"/>
  10. <param name="serial" value=""/>
  11. <!-- If the above parameters aren't unique, choose the first match: -->
  12. <param name="index" value="0"/>
  13.  
  14. <!-- Image size and type -->
  15. <param name="width" value="640"/>
  16. <param name="height" value="481"/>
  17. <!-- choose whichever uncompressed format the camera supports: -->
  18. <param name="video_mode" value="uncompressed"/> <!-- or yuyv/nv12/jpeg -->
  19. <param name="frame_rate" value="30"/>
  20.  
  21. <param name="timestamp_method" value="start"/> <!-- start of frame -->
  22. <param name="camera_info_url" value="file:///tmp/cam.yaml"/>
  23.  
  24. <param name="auto_exposure" value="1"/> <!-- use aperture_priority auto exposure -->
  25. <param name="auto_white_balance" value="false"/>
  26. </node>
  27. </group>
  28. </launch>
  29.  
  30. --------------------------------------------------------------------------------
  31. OUTPUT:
  32. --------------------------------------------------------------------------------
  33.  
  34. root@ubuntu:/home/mark/catkin_ws/src/libuvc_ros# roslaunch libuvc_camera libuvc_camera.launch
  35. ... logging to /root/.ros/log/64f3dc42-b30c-11e5-850b-001c42361d26/roslaunch-ubuntu-24679.log
  36. Checking log directory for disk usage. This may take awhile.
  37. Press Ctrl-C to interrupt
  38. Done checking log file disk usage. Usage is <1GB.
  39.  
  40. started roslaunch server http://ubuntu:46293/
  41.  
  42. SUMMARY
  43. ========
  44.  
  45. PARAMETERS
  46. * /camera/realsense/auto_exposure: 1
  47. * /camera/realsense/auto_white_balance: False
  48. * /camera/realsense/camera_info_url: file:///tmp/cam.yaml
  49. * /camera/realsense/frame_rate: 30
  50. * /camera/realsense/height: 481
  51. * /camera/realsense/index: 0
  52. * /camera/realsense/product: 0x0a80
  53. * /camera/realsense/serial:
  54. * /camera/realsense/timestamp_method: start
  55. * /camera/realsense/vendor: 0x8086
  56. * /camera/realsense/video_mode: uncompressed
  57. * /camera/realsense/width: 640
  58. * /rosdistro: indigo
  59. * /rosversion: 1.11.16
  60.  
  61. NODES
  62. /camera/
  63. realsense (libuvc_camera/camera_node)
  64.  
  65. ROS_MASTER_URI=http://localhost:11311
  66.  
  67. core service [/rosout] found
  68. process[camera/realsense-1]: started with pid [24697]
  69. unsupported descriptor subtype: 13
  70. unsupported descriptor subtype: 13
  71. unsupported descriptor subtype: 13
  72. unsupported descriptor subtype: 13
  73. uvc_get_stream_ctrl_format_size: Invalid mode (-51)
  74. [ERROR] [1451956049.253243337]: check video_mode/width/height/frame_rate are available
  75. [camera/realsense-1] process has died [pid 24697, exit code -11, cmd /home/mark/catkin_ws/devel/lib/libuvc_camera/camera_node __name:=realsense __log:=/root/.ros/log/64f3dc42-b30c-11e5-850b-001c42361d26/camera-realsense-1.log].
  76. log file: /root/.ros/log/64f3dc42-b30c-11e5-850b-001c42361d26/camera-realsense-1*.log
  77. all processes on machine have died, roslaunch will exit
  78. shutting down processing monitor...
  79. ... shutting down processing monitor complete
  80. done
  81.  
  82. --------------------------------------------------------------------------------
  83. OUTPUT OF v4l2-ctl --list-formats-ext --device=/dev/videoX
  84. The realsense camera registers under /sys/class/video4linux/video{1,2,3}
  85. --------------------------------------------------------------------------------
  86.  
  87. ---------------------------------------------------------------------------------------------
  88. video1 output
  89. # v4l2-ctl --list-formats-ext --device=/dev/video1
  90. ioctl: VIDIOC_ENUM_FMT
  91. Index : 0
  92. Type : Video Capture
  93. Pixel Format: 'YUYV'
  94. Name : YUV 4:2:2 (YUYV)
  95. Size: Discrete 320x962
  96. Interval: Discrete 0.017s (60.000 fps)
  97.  
  98. Index : 1
  99. Type : Video Capture
  100. Pixel Format: 'Y12I'
  101. Name : Greyscale 12 L/R (Y12I)
  102. Size: Discrete 640x481
  103. Interval: Discrete 0.011s (90.000 fps)
  104. Interval: Discrete 0.017s (60.000 fps)
  105. Interval: Discrete 0.033s (30.000 fps)
  106. Size: Discrete 640x373
  107. Interval: Discrete 0.011s (90.000 fps)
  108. Interval: Discrete 0.017s (60.000 fps)
  109. Interval: Discrete 0.033s (30.000 fps)
  110. Size: Discrete 640x254
  111. Interval: Discrete 0.011s (90.000 fps)
  112. Interval: Discrete 0.017s (60.000 fps)
  113. Interval: Discrete 0.033s (30.000 fps)
  114.  
  115. Index : 2
  116. Type : Video Capture
  117. Pixel Format: 'Y16 '
  118. Name : Greyscale 16-bit (Y16 )
  119. Size: Discrete 640x481
  120. Interval: Discrete 0.011s (90.000 fps)
  121. Interval: Discrete 0.017s (60.000 fps)
  122. Interval: Discrete 0.033s (30.000 fps)
  123. Size: Discrete 640x373
  124. Interval: Discrete 0.011s (90.000 fps)
  125. Interval: Discrete 0.017s (60.000 fps)
  126. Interval: Discrete 0.033s (30.000 fps)
  127. Size: Discrete 640x254
  128. Interval: Discrete 0.011s (90.000 fps)
  129. Interval: Discrete 0.017s (60.000 fps)
  130. Interval: Discrete 0.033s (30.000 fps)
  131.  
  132. Index : 3
  133. Type : Video Capture
  134. Pixel Format: 'Y8I '
  135. Name : Greyscale 8 L/R (Y8I)
  136. Size: Discrete 640x481
  137. Interval: Discrete 0.011s (90.000 fps)
  138. Interval: Discrete 0.017s (60.000 fps)
  139. Interval: Discrete 0.033s (30.000 fps)
  140. Size: Discrete 640x373
  141. Interval: Discrete 0.011s (90.000 fps)
  142. Interval: Discrete 0.017s (60.000 fps)
  143. Interval: Discrete 0.033s (30.000 fps)
  144. Size: Discrete 640x254
  145. Interval: Discrete 0.011s (90.000 fps)
  146. Interval: Discrete 0.017s (60.000 fps)
  147. Interval: Discrete 0.033s (30.000 fps)
  148.  
  149. Index : 4
  150. Type : Video Capture
  151. Pixel Format: 'GREY'
  152. Name : Greyscale 8-bit (Y8 )
  153. Size: Discrete 640x481
  154. Interval: Discrete 0.011s (90.000 fps)
  155. Interval: Discrete 0.017s (60.000 fps)
  156. Interval: Discrete 0.033s (30.000 fps)
  157. Size: Discrete 640x373
  158. Interval: Discrete 0.011s (90.000 fps)
  159. Interval: Discrete 0.017s (60.000 fps)
  160. Interval: Discrete 0.033s (30.000 fps)
  161. Size: Discrete 640x254
  162. Interval: Discrete 0.011s (90.000 fps)
  163. Interval: Discrete 0.017s (60.000 fps)
  164. Interval: Discrete 0.033s (30.000 fps)
  165.  
  166.  
  167. ---------------------------------------------------------------------------------------------
  168. video2 output
  169.  
  170. # v4l2-ctl --list-formats-ext --device=/dev/video2
  171. ioctl: VIDIOC_ENUM_FMT
  172. Index : 0
  173. Type : Video Capture
  174. Pixel Format: 'YUYV'
  175. Name : YUV 4:2:2 (YUYV)
  176. Size: Discrete 314x938
  177. Interval: Discrete 0.017s (60.000 fps)
  178.  
  179. Index : 1
  180. Type : Video Capture
  181. Pixel Format: 'Z16 '
  182. Name : Depth data 16-bit (Z16)
  183. Size: Discrete 628x469
  184. Interval: Discrete 0.011s (90.000 fps)
  185. Interval: Discrete 0.017s (60.000 fps)
  186. Interval: Discrete 0.033s (30.000 fps)
  187. Size: Discrete 628x361
  188. Interval: Discrete 0.011s (90.000 fps)
  189. Interval: Discrete 0.017s (60.000 fps)
  190. Interval: Discrete 0.033s (30.000 fps)
  191. Size: Discrete 628x242
  192. Interval: Discrete 0.011s (90.000 fps)
  193. Interval: Discrete 0.017s (60.000 fps)
  194. Interval: Discrete 0.033s (30.000 fps)
  195.  
  196. ---------------------------------------------------------------------------------------------
  197. video3 output
  198.  
  199. # v4l2-ctl --list-formats-ext --device=/dev/video3
  200. ioctl: VIDIOC_ENUM_FMT
  201. Index : 0
  202. Type : Video Capture
  203. Pixel Format: 'YUYV'
  204. Name : YUV 4:2:2 (YUYV)
  205. Size: Discrete 1920x1080
  206. Interval: Discrete 0.033s (30.000 fps)
  207. Interval: Discrete 0.067s (15.000 fps)
  208. Size: Discrete 1280x720
  209. Interval: Discrete 0.033s (30.000 fps)
  210. Interval: Discrete 0.067s (15.000 fps)
  211. Size: Discrete 960x540
  212. Interval: Discrete 0.033s (30.000 fps)
  213. Interval: Discrete 0.067s (15.000 fps)
  214. Size: Discrete 848x480
  215. Interval: Discrete 0.033s (30.000 fps)
  216. Interval: Discrete 0.067s (15.000 fps)
  217. Size: Discrete 640x480
  218. Interval: Discrete 0.017s (60.000 fps)
  219. Interval: Discrete 0.033s (30.000 fps)
  220. Interval: Discrete 0.067s (15.000 fps)
  221. Size: Discrete 640x360
  222. Interval: Discrete 0.033s (30.000 fps)
  223. Interval: Discrete 0.067s (15.000 fps)
  224. Size: Discrete 424x240
  225. Interval: Discrete 0.033s (30.000 fps)
  226. Interval: Discrete 0.067s (15.000 fps)
  227. Size: Discrete 320x240
  228. Interval: Discrete 0.017s (60.000 fps)
  229. Interval: Discrete 0.033s (30.000 fps)
  230. Interval: Discrete 0.067s (15.000 fps)
  231. Size: Discrete 320x180
  232. Interval: Discrete 0.033s (30.000 fps)
  233. Interval: Discrete 0.067s (15.000 fps)
  234.  
  235. Index : 1
  236. Type : Video Capture
  237. Pixel Format: 'RW10'
  238. Name : Raw data 10-bit (RW10)
  239. Size: Discrete 2400x1081
  240. Interval: Discrete 0.033s (30.000 fps)
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