feat(ros): added mutiple yaml file for multiple device

wrappers/ros/src/mynt_eye_ros_wrapper/config/sub/device_1/standard.yaml

@@ -0,0 +1,58 @@
+# standard/gain range: [0,48]
+sstandard/gain: -1
+# standard/gain: 24
+
+# standard/brightness range: [0,240]
+standard/brightness: -1
+# standard/brightness: 120
+
+# contrast range: [0,255]
+standard/contrast: -1
+# standard/contrast: 127
+
+# standard/frame_rate range: {10,15,20,25,30,35,40,45,50,55,60}
+standard/frame_rate: -1
+# standard/frame_rate: 25
+
+# standard/imu_frequency range: {100,200,250,333,500}
+standard/imu_frequency: -1
+# standard/imu_frequency: 200
+
+# standard/exposure_mode, 0: auto-exposure, 1: manual-exposure
+standard/exposure_mode: -1
+# standard/exposure_mode: 0
+
+# standard/max_gain range: [0,48]
+standard/max_gain: -1
+# standard/max_gain: 48
+
+# standard/max_exposure_time range: [0,240]
+standard/max_exposure_time: -1
+# standard/max_exposure_time: 240
+
+# standard/desired_brightness range: [0,255]
+standard/desired_brightness: -1
+# standard/desired_brightness: 192
+
+# standard/ir_control range: [0,160]
+standard/ir_control: 80
+# standard/ir_control: 0
+
+# standard/hdr_mode, 0: 10-bit, 1: 12-bit
+standard/hdr_mode: -1
+# standard/hdr_mode: 0
+
+# standard/accel_range range: {4,8,16,32}
+standard/accel_range: -1
+# standard/accel_range: 8
+
+# standard/gyro_range range: {500,1000,2000,4000}
+standard/gyro_range: -1
+# standard/gyro_range: 1000
+
+# MYNTEYE-S1030, Reslution: 752x480, Format: YUYV
+# index_s_0: 0
+# MYNTEYE-S1030, Reslution: 376x240, Format: YUYV
+# index_s_1: 1
+
+standard/request_index: 0

wrappers/ros/src/mynt_eye_ros_wrapper/config/sub/device_1/standard2.yaml

@@ -0,0 +1,116 @@
+
+
+# Attention:The format of MYNTEYE-S2100/S2000 is YUYV.S210A's format is BGR888
+
+# MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 10
+# index_s2_0: 0
+# MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 20
+# index_s2_1: 1
+# MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 30
+# index_s2_2: 2
+# MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 60
+# index_s2_3: 3
+# MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 10
+# index_s2_4: 4
+# MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 20
+# index_s2_5: 5
+# MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 30
+# index_s2_6: 6
+
+standard2/request_index: 2
+
+# MYNTEYE-S2100/S2000/S210A/imu_process_mode range: [0,3]
+# 0 - none process, 1 - temperature process, 2 - scale and assembly process, 3 - both
+standard2/imu_process_mode: 2
+
+# device options of standard2, -1 will not set the value
+
+# standard2/brightness range: [0,240]
+standard2/brightness: -1
+# standard2/brightness: 120
+
+# standard2/exposure_mode, 0: auto-exposure, 1: manual-exposure
+standard2/exposure_mode: -1
+# standard2/exposure_mode: 0
+
+# standard2/max_gain range: [0,255]
+standard2/max_gain: -1
+# standard2/max_gain: 8
+
+# standard2/max_exposure_time range: [0,1000]
+standard2/max_exposure_time: -1
+# standard2/max_exposure_time: 333
+
+# standard2/desired_brightness range: [1,255]
+standard2/desired_brightness: -1
+# standard2/desired_brightness: 122
+
+# standard2/min_exposure_time range: [0,1000]
+standard2/min_exposure_time: -1
+# standard2/min_exposure_time: 0
+
+# standard2/ir_control range: [0,160]
+standard2/ir_control: 80
+# standard2/ir_control: 0
+
+# standard2/accel_range range: [6,48]
+standard2/accel_range: -1
+# standard2/accel_range: 6
+
+# standard2/gyro_range range: [250,4000]
+standard2/gyro_range: -1
+# standard2/gyro_range: 1000
+
+# standard2/accel_low_filter range: [0,2]
+standard2/accel_low_filter: -1
+# standard2/accel_low_filter: 2
+
+# standard2/gyro_low_filter range: [23,64]
+standard2/gyro_low_filter: -1
+# standard2/gyro_low_filter: 64
+
+# device options of standard210a, -1 will not set the value
+
+# standard210a/brightness range: [0,240]
+standard210a/brightness: -1
+# standard210a/brightness: 120
+
+# standard210a/exposure_mode, 0: auto-exposure, 1: manual-exposure
+standard210a/exposure_mode: -1
+# standard210a/exposure_mode: 0
+
+# standard210a/max_gain range: [0,255]
+standard210a/max_gain: -1
+# standard210a/max_gain: 8
+
+# standard210a/max_exposure_time range: [0,1000]
+standard210a/max_exposure_time: -1
+# standard210a/max_exposure_time: 333
+
+# standard210a/desired_brightness range: [1,255]
+standard210a/desired_brightness: -1
+# standard210a/desired_brightness: 122
+
+# standard210a/min_exposure_time range: [0,1000]
+standard210a/min_exposure_time: -1
+# standard210a/min_exposure_time: 0
+
+# standard210a/accel_range range: [6,48]
+standard210a/accel_range: -1
+# standard210a/accel_range: 6
+
+# standard210a/gyro_range range: [250,4000]
+standard210a/gyro_range: -1
+# standard210a/gyro_range: 1000
+
+# standard210a/accel_low_filter range: [0,2]
+standard210a/accel_low_filter: -1
+# standard210a/accel_low_filter: 2
+
+# standard210a/gyro_low_filter range: [23,64]
+standard210a/gyro_low_filter: -1
+# standard210a/gyro_low_filter: 64
+
+# standard210a/iic_address_setting range: [0,127]
+standard210a/iic_address_setting: -1
+# standard210a/iic_address_setting: 0x01

wrappers/ros/src/mynt_eye_ros_wrapper/config/sub/device_2/standard.yaml

@@ -0,0 +1,58 @@
+# standard/gain range: [0,48]
+sstandard/gain: -1
+# standard/gain: 24
+
+# standard/brightness range: [0,240]
+standard/brightness: -1
+# standard/brightness: 120
+
+# contrast range: [0,255]
+standard/contrast: -1
+# standard/contrast: 127
+
+# standard/frame_rate range: {10,15,20,25,30,35,40,45,50,55,60}
+standard/frame_rate: -1
+# standard/frame_rate: 25
+
+# standard/imu_frequency range: {100,200,250,333,500}
+standard/imu_frequency: -1
+# standard/imu_frequency: 200
+
+# standard/exposure_mode, 0: auto-exposure, 1: manual-exposure
+standard/exposure_mode: -1
+# standard/exposure_mode: 0
+
+# standard/max_gain range: [0,48]
+standard/max_gain: -1
+# standard/max_gain: 48
+
+# standard/max_exposure_time range: [0,240]
+standard/max_exposure_time: -1
+# standard/max_exposure_time: 240
+
+# standard/desired_brightness range: [0,255]
+standard/desired_brightness: -1
+# standard/desired_brightness: 192
+
+# standard/ir_control range: [0,160]
+standard/ir_control: 80
+# standard/ir_control: 0
+
+# standard/hdr_mode, 0: 10-bit, 1: 12-bit
+standard/hdr_mode: -1
+# standard/hdr_mode: 0
+
+# standard/accel_range range: {4,8,16,32}
+standard/accel_range: -1
+# standard/accel_range: 8
+
+# standard/gyro_range range: {500,1000,2000,4000}
+standard/gyro_range: -1
+# standard/gyro_range: 1000
+
+# MYNTEYE-S1030, Reslution: 752x480, Format: YUYV
+# index_s_0: 0
+# MYNTEYE-S1030, Reslution: 376x240, Format: YUYV
+# index_s_1: 1
+
+standard/request_index: 0

wrappers/ros/src/mynt_eye_ros_wrapper/config/sub/device_2/standard2.yaml

@@ -0,0 +1,116 @@
+
+
+# Attention:The format of MYNTEYE-S2100/S2000 is YUYV.S210A's format is BGR888
+
+# MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 10
+# index_s2_0: 0
+# MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 20
+# index_s2_1: 1
+# MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 30
+# index_s2_2: 2
+# MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 60
+# index_s2_3: 3
+# MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 10
+# index_s2_4: 4
+# MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 20
+# index_s2_5: 5
+# MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 30
+# index_s2_6: 6
+
+standard2/request_index: 2
+
+# MYNTEYE-S2100/S2000/S210A/imu_process_mode range: [0,3]
+# 0 - none process, 1 - temperature process, 2 - scale and assembly process, 3 - both
+standard2/imu_process_mode: 2
+
+# device options of standard2, -1 will not set the value
+
+# standard2/brightness range: [0,240]
+standard2/brightness: -1
+# standard2/brightness: 120
+
+# standard2/exposure_mode, 0: auto-exposure, 1: manual-exposure
+standard2/exposure_mode: -1
+# standard2/exposure_mode: 0
+
+# standard2/max_gain range: [0,255]
+standard2/max_gain: -1
+# standard2/max_gain: 8
+
+# standard2/max_exposure_time range: [0,1000]
+standard2/max_exposure_time: -1
+# standard2/max_exposure_time: 333
+
+# standard2/desired_brightness range: [1,255]
+standard2/desired_brightness: -1
+# standard2/desired_brightness: 122
+
+# standard2/min_exposure_time range: [0,1000]
+standard2/min_exposure_time: -1
+# standard2/min_exposure_time: 0
+
+# standard2/ir_control range: [0,160]
+standard2/ir_control: 80
+# standard2/ir_control: 0
+
+# standard2/accel_range range: [6,48]
+standard2/accel_range: -1
+# standard2/accel_range: 6
+
+# standard2/gyro_range range: [250,4000]
+standard2/gyro_range: -1
+# standard2/gyro_range: 1000
+
+# standard2/accel_low_filter range: [0,2]
+standard2/accel_low_filter: -1
+# standard2/accel_low_filter: 2
+
+# standard2/gyro_low_filter range: [23,64]
+standard2/gyro_low_filter: -1
+# standard2/gyro_low_filter: 64
+
+# device options of standard210a, -1 will not set the value
+
+# standard210a/brightness range: [0,240]
+standard210a/brightness: -1
+# standard210a/brightness: 120
+
+# standard210a/exposure_mode, 0: auto-exposure, 1: manual-exposure
+standard210a/exposure_mode: -1
+# standard210a/exposure_mode: 0
+
+# standard210a/max_gain range: [0,255]
+standard210a/max_gain: -1
+# standard210a/max_gain: 8
+
+# standard210a/max_exposure_time range: [0,1000]
+standard210a/max_exposure_time: -1
+# standard210a/max_exposure_time: 333
+
+# standard210a/desired_brightness range: [1,255]
+standard210a/desired_brightness: -1
+# standard210a/desired_brightness: 122
+
+# standard210a/min_exposure_time range: [0,1000]
+standard210a/min_exposure_time: -1
+# standard210a/min_exposure_time: 0
+
+# standard210a/accel_range range: [6,48]
+standard210a/accel_range: -1
+# standard210a/accel_range: 6
+
+# standard210a/gyro_range range: [250,4000]
+standard210a/gyro_range: -1
+# standard210a/gyro_range: 1000
+
+# standard210a/accel_low_filter range: [0,2]
+standard210a/accel_low_filter: -1
+# standard210a/accel_low_filter: 2
+
+# standard210a/gyro_low_filter range: [23,64]
+standard210a/gyro_low_filter: -1
+# standard210a/gyro_low_filter: 64
+
+# standard210a/iic_address_setting range: [0,127]
+standard210a/iic_address_setting: -1
+# standard210a/iic_address_setting: 0x01

wrappers/ros/src/mynt_eye_ros_wrapper/config/sub/process_1/process_config.yaml

@@ -0,0 +1,11 @@
+# disparity computing method type
+# sgbm: 0
+# bm: 1
+disparity_computing_method: 1
+
+enable_left_rect: false
+enable_right_rect: false
+enable_disparity: false
+enable_disparity_norm: false
+enable_points: false
+enable_depth: false

wrappers/ros/src/mynt_eye_ros_wrapper/config/sub/process_2/process_config.yaml

@@ -0,0 +1,11 @@
+# disparity computing method type
+# sgbm: 0
+# bm: 1
+disparity_computing_method: 1
+
+enable_left_rect: false
+enable_right_rect: false
+enable_disparity: false
+enable_disparity_norm: false
+enable_points: false
+enable_depth: false

wrappers/ros/src/mynt_eye_ros_wrapper/launch/sub/mynteye_1.launch

@@ -9,6 +9,9 @@
   <!-- if is_mutiple is true, must set serial_number -->
   <arg name="serial_number" default="07C42B1B0009071F" />
 
+  <!-- depth_type  0: MONO16, 1: TYPE_16UC1 -->
+  <arg name="depth_type" default="0" />
+
   <!-- node params -->
 
   <arg name="left_topic" default="left/image_raw" />
@@ -52,6 +55,8 @@
       <param name="is_multiple" value="$(arg is_multiple)" />
       <param name="serial_number" value="$(arg serial_number)" />
 
+      <param name="depth_type" value="$(arg depth_type)" />
+
       <param name="left_topic" value="$(arg left_topic)" />
       <param name="right_topic" value="$(arg right_topic)" />
       <param name="left_rect_topic" value="$(arg left_rect_topic)" />
@@ -80,9 +85,9 @@
 
       <param name="temperature_frame_id" value="$(arg temperature_frame_id)" />
 
-      <rosparam file="$(find mynt_eye_ros_wrapper)/config/device/standard.yaml" command="load" />
+      <rosparam file="$(find mynt_eye_ros_wrapper)/config/sub/device_1/standard.yaml" command="load" />
-      <rosparam file="$(find mynt_eye_ros_wrapper)/config/device/standard2.yaml" command="load" />
+      <rosparam file="$(find mynt_eye_ros_wrapper)/config/sub/device_1/standard2.yaml" command="load" />
-      <rosparam file="$(find mynt_eye_ros_wrapper)/config/process/process_config.yaml" command="load" />
+      <rosparam file="$(find mynt_eye_ros_wrapper)/config/sub/process_1/process_config.yaml" command="load" />
 
       <param name="gravity" value="$(arg gravity)" />
     </node>

wrappers/ros/src/mynt_eye_ros_wrapper/launch/sub/mynteye_2.launch

@@ -9,6 +9,9 @@
   <!-- if is_mutiple is true, must set serial_number -->
   <arg name="serial_number" default="07C4061B0009071F" />
 
+  <!-- depth_type  0: MONO16, 1: TYPE_16UC1 -->
+  <arg name="depth_type" default="0" />
+
   <!-- node params -->
 
   <arg name="left_topic" default="left/image_raw" />
@@ -52,6 +55,8 @@
       <param name="is_multiple" value="$(arg is_multiple)" />
       <param name="serial_number" value="$(arg serial_number)" />
 
+      <param name="depth_type" value="$(arg depth_type)" />
+
       <param name="left_topic" value="$(arg left_topic)" />
       <param name="right_topic" value="$(arg right_topic)" />
       <param name="left_rect_topic" value="$(arg left_rect_topic)" />
@@ -80,9 +85,9 @@
 
       <param name="temperature_frame_id" value="$(arg temperature_frame_id)" />
 
-      <rosparam file="$(find mynt_eye_ros_wrapper)/config/device/standard.yaml" command="load" />
+      <rosparam file="$(find mynt_eye_ros_wrapper)/config/sub/device_2/standard.yaml" command="load" />
-      <rosparam file="$(find mynt_eye_ros_wrapper)/config/device/standard2.yaml" command="load" />
+      <rosparam file="$(find mynt_eye_ros_wrapper)/config/sub/device_2/standard2.yaml" command="load" />
-      <rosparam file="$(find mynt_eye_ros_wrapper)/config/process/process_config.yaml" command="load" />
+      <rosparam file="$(find mynt_eye_ros_wrapper)/config/sub/process_2/process_config.yaml" command="load" />
 
       <param name="gravity" value="$(arg gravity)" />
     </node>