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feat(src): added S200B device support

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This commit is contained in:
Osenberg
2019-08-07 18:42:37 +08:00
parent acabe04a92
commit 37b98e0d33
25 changed files with 289 additions and 52 deletions
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44
wrappers/ros/src/mynt_eye_ros_wrapper/config/device/standard2.yaml
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@@ -19,7 +19,7 @@
standard2/request_index: 2
# MYNTEYE-S2100/S2000/S210A/imu_process_mode range: [0,3]
# MYNTEYE-S2100/S2000/S210A/S200B imu_process_mode range: [0,3]
# 0 - none process, 1 - temperature process, 2 - scale and assembly process, 3 - both
standard2/imu_process_mode: 2
@@ -110,3 +110,45 @@ standard210a/gyro_low_filter: -1
# standard210a/iic_address_setting range: [0,127]
standard210a/iic_address_setting: -1
# standard210a/iic_address_setting: 0x01
# device options of standard200b, -1 will not set the value
# standard200b/brightness range: [1,255]
standard200b/brightness: -1
# standard200b/brightness: 70
# standard200b/exposure_mode, 0: auto-exposure, 1: manual-exposure
standard200b/exposure_mode: -1
# standard200b/exposure_mode: 0
# standard200b/max_gain range: [0,255]
standard200b/max_gain: -1
# standard200b/max_gain: 8
# standard200b/max_exposure_time range: [0,1000]
standard200b/max_exposure_time: -1
# standard200b/max_exposure_time: 333
# standard200b/desired_brightness range: [1,255]
standard200b/desired_brightness: -1
# standard200b/desired_brightness: 122
# standard200b/min_exposure_time range: [0,1000]
standard200b/min_exposure_time: -1
# standard200b/min_exposure_time: 0
# standard200b/accel_range range: [6,48]
standard200b/accel_range: -1
# standard200b/accel_range: 6
# standard200b/gyro_range range: [250,4000]
standard200b/gyro_range: -1
# standard200b/gyro_range: 1000
# standard200b/accel_low_filter range: [0,2]
standard200b/accel_low_filter: -1
# standard200b/accel_low_filter: 2
# standard200b/gyro_low_filter range: [23,64]
standard200b/gyro_low_filter: -1
# standard200b/gyro_low_filter: 64

54
wrappers/ros/src/mynt_eye_ros_wrapper/config/sub/device_1/standard2.yaml
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@@ -19,15 +19,15 @@
standard2/request_index: 2
# MYNTEYE-S2100/S2000/S210A/imu_process_mode range: [0,3]
# MYNTEYE-S2100/S2000/S210A/S200B imu_process_mode range: [0,3]
# 0 - none process, 1 - temperature process, 2 - scale and assembly process, 3 - both
standard2/imu_process_mode: 0
standard2/imu_process_mode: 2
# device options of standard2, -1 will not set the value
# standard2/brightness range: [0,240]
# standard2/brightness range: [1,255]
standard2/brightness: -1
# standard2/brightness: 120
# standard2/brightness: 70
# standard2/exposure_mode, 0: auto-exposure, 1: manual-exposure
standard2/exposure_mode: -1
@@ -67,9 +67,9 @@ standard2/gyro_low_filter: -1
# device options of standard210a, -1 will not set the value
# standard210a/brightness range: [0,240]
# standard210a/brightness range: [1,255]
standard210a/brightness: -1
# standard210a/brightness: 120
# standard210a/brightness: 70
# standard210a/exposure_mode, 0: auto-exposure, 1: manual-exposure
standard210a/exposure_mode: -1
@@ -110,3 +110,45 @@ standard210a/gyro_low_filter: -1
# standard210a/iic_address_setting range: [0,127]
standard210a/iic_address_setting: -1
# standard210a/iic_address_setting: 0x01
# device options of standard200b, -1 will not set the value
# standard200b/brightness range: [1,255]
standard200b/brightness: -1
# standard200b/brightness: 70
# standard200b/exposure_mode, 0: auto-exposure, 1: manual-exposure
standard200b/exposure_mode: -1
# standard200b/exposure_mode: 0
# standard200b/max_gain range: [0,255]
standard200b/max_gain: -1
# standard200b/max_gain: 8
# standard200b/max_exposure_time range: [0,1000]
standard200b/max_exposure_time: -1
# standard200b/max_exposure_time: 333
# standard200b/desired_brightness range: [1,255]
standard200b/desired_brightness: -1
# standard200b/desired_brightness: 122
# standard200b/min_exposure_time range: [0,1000]
standard200b/min_exposure_time: -1
# standard200b/min_exposure_time: 0
# standard200b/accel_range range: [6,48]
standard200b/accel_range: -1
# standard200b/accel_range: 6
# standard200b/gyro_range range: [250,4000]
standard200b/gyro_range: -1
# standard200b/gyro_range: 1000
# standard200b/accel_low_filter range: [0,2]
standard200b/accel_low_filter: -1
# standard200b/accel_low_filter: 2
# standard200b/gyro_low_filter range: [23,64]
standard200b/gyro_low_filter: -1
# standard200b/gyro_low_filter: 64

54
wrappers/ros/src/mynt_eye_ros_wrapper/config/sub/device_2/standard2.yaml
View File

@@ -19,15 +19,15 @@
standard2/request_index: 2
# MYNTEYE-S2100/S2000/S210A/imu_process_mode range: [0,3]
# MYNTEYE-S2100/S2000/S210A/S200B imu_process_mode range: [0,3]
# 0 - none process, 1 - temperature process, 2 - scale and assembly process, 3 - both
standard2/imu_process_mode: 0
standard2/imu_process_mode: 2
# device options of standard2, -1 will not set the value
# standard2/brightness range: [0,240]
# standard2/brightness range: [1,255]
standard2/brightness: -1
# standard2/brightness: 120
# standard2/brightness: 70
# standard2/exposure_mode, 0: auto-exposure, 1: manual-exposure
standard2/exposure_mode: -1
@@ -67,9 +67,9 @@ standard2/gyro_low_filter: -1
# device options of standard210a, -1 will not set the value
# standard210a/brightness range: [0,240]
# standard210a/brightness range: [1,255]
standard210a/brightness: -1
# standard210a/brightness: 120
# standard210a/brightness: 70
# standard210a/exposure_mode, 0: auto-exposure, 1: manual-exposure
standard210a/exposure_mode: -1
@@ -110,3 +110,45 @@ standard210a/gyro_low_filter: -1
# standard210a/iic_address_setting range: [0,127]
standard210a/iic_address_setting: -1
# standard210a/iic_address_setting: 0x01
# device options of standard200b, -1 will not set the value
# standard200b/brightness range: [1,255]
standard200b/brightness: -1
# standard200b/brightness: 70
# standard200b/exposure_mode, 0: auto-exposure, 1: manual-exposure
standard200b/exposure_mode: -1
# standard200b/exposure_mode: 0
# standard200b/max_gain range: [0,255]
standard200b/max_gain: -1
# standard200b/max_gain: 8
# standard200b/max_exposure_time range: [0,1000]
standard200b/max_exposure_time: -1
# standard200b/max_exposure_time: 333
# standard200b/desired_brightness range: [1,255]
standard200b/desired_brightness: -1
# standard200b/desired_brightness: 122
# standard200b/min_exposure_time range: [0,1000]
standard200b/min_exposure_time: -1
# standard200b/min_exposure_time: 0
# standard200b/accel_range range: [6,48]
standard200b/accel_range: -1
# standard200b/accel_range: 6
# standard200b/gyro_range range: [250,4000]
standard200b/gyro_range: -1
# standard200b/gyro_range: 1000
# standard200b/accel_low_filter range: [0,2]
standard200b/accel_low_filter: -1
# standard200b/accel_low_filter: 2
# standard200b/gyro_low_filter range: [23,64]
standard200b/gyro_low_filter: -1
# standard200b/gyro_low_filter: 64

28
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
View File

@@ -305,6 +305,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
{Option::ACCELEROMETER_LOW_PASS_FILTER, "standard2/accel_low_filter"},
{Option::GYROSCOPE_LOW_PASS_FILTER, "standard2/gyro_low_filter"}};
}
// device options of standard
if (model_ == Model::STANDARD) {
option_names_ = {
@@ -323,6 +324,20 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
{Option::GYROSCOPE_RANGE, "standard/gyro_range"}};
}
// device options of standard200b
if (model_ == Model::STANDARD200B) {
option_names_ = {
{Option::BRIGHTNESS, "standard200b/brightness"},
{Option::EXPOSURE_MODE, "standard200b/exposure_mode"},
{Option::MAX_GAIN, "standard200b/max_gain"},
{Option::MAX_EXPOSURE_TIME, "standard200b/max_exposure_time"},
{Option::DESIRED_BRIGHTNESS, "standard200b/desired_brightness"},
{Option::MIN_EXPOSURE_TIME, "standard200b/min_exposure_time"},
{Option::ACCELEROMETER_RANGE, "standard200b/accel_range"},
{Option::GYROSCOPE_RANGE, "standard200b/gyro_range"},
{Option::ACCELEROMETER_LOW_PASS_FILTER, "standard200b/accel_low_filter"},
{Option::GYROSCOPE_LOW_PASS_FILTER, "standard200b/gyro_low_filter"}};
}
for (auto &&it = option_names_.begin(); it != option_names_.end(); ++it) {
if (!api_->Supports(it->first))
continue;
@@ -349,8 +364,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
NODELET_INFO_STREAM("Advertized on topic " << topic);
}
// Only STANDARD2/STANDARD210A need publish mono_topics
if (model_ == Model::STANDARD2 || model_ == Model::STANDARD210A) {
// Only STANDARD2/STANDARD210A/STANDARD200B need publish mono_topics
if (model_ == Model::STANDARD2 ||
model_ == Model::STANDARD210A || model_ == Model::STANDARD200B) {
for (auto &&it = mono_topics.begin(); it != mono_topics.end(); ++it) {
auto &&topic = mono_topics[it->first];
if (it->first == Stream::LEFT ||
@@ -365,7 +381,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
int depth_type = 0;
private_nh_.getParamCached("depth_type", depth_type);
if (model_ == Model::STANDARD2 || model_ == Model::STANDARD210A) {
if (model_ == Model::STANDARD2 ||
model_ == Model::STANDARD210A || model_ == Model::STANDARD200B) {
camera_encodings_ = {{Stream::LEFT, enc::BGR8},
{Stream::RIGHT, enc::BGR8},
{Stream::LEFT_RECTIFIED, enc::BGR8},
@@ -1095,7 +1112,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
int request_index = 0;
model_ = api_->GetModel();
if (model_ == Model::STANDARD2 || model_ == Model::STANDARD210A) {
if (model_ == Model::STANDARD2 ||
model_ == Model::STANDARD210A || model_ == Model::STANDARD200B) {
private_nh_.getParamCached("standard2/request_index", request_index);
switch (request_index) {
case 0:
@@ -1122,7 +1140,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
std::int32_t process_mode = 0;
if (model_ == Model::STANDARD2 ||
model_ == Model::STANDARD210A) {
model_ == Model::STANDARD210A || model_ == Model::STANDARD200B) {
private_nh_.getParamCached("standard2/imu_process_mode", process_mode);
api_->EnableProcessMode(process_mode);
}