ArduCAM USB2 Shield ROS node

(Tested on Ubuntu 16.04/Linux Mint 18, ROS Kinetic)

Setup:

1. Copy arducam_usb2_ros to your catkin workspace directory
2. Run catkin_make
3. Run setup.sh in arducam_usb2_ros folder

Usage:

1. Change "camera_config" argument in the launch file to your corresponding Arducam camera JSON config file.
2. Change "serial_number" argument in the launch file to your corresponding Arducam's serial number in the form of XXXX-XXXX-XXXX, leave it blank if there is only one camera.
3. Change "horizontal_flip" or "vertical_flip" arguments in the launch file to change image horizontal or vertical orientation.
4. Change "frame_id" argument in the launch file to change topic's frame_id of your like.
5. Single camera example: roslaunch arducam_usb2_ros arducam_node.launch
   Multiple cameras example: roslaunch arducam_usb2_ros multiarducam_node.launch
   External/software trigger image capture example: roslaunch arducam_usb2_ros trigger_capture_node.launch

Single camera example

• Topic publish:

/cam0/arducam/camera/image_raw

/cam0/arducam/captured/camera/image_raw

• Read value from sensor register:

rosservice call /cam0/arducam/read_reg (register address)

Example, to obtain chip version: rosservice call /cam0/arducam/read_reg 0

• Write value to sensor register:

rosservice call /cam0/arducam/write_reg (register address) (value)

Example, to adjust exposure on MT9N001: rosservice call /cam0/arducam/write_reg 12306 100

• Capture image:

rosservice call /cam0/arducam/capture

(Image published to /cam0/arducam/camera/captured)

External/software trigger image capture example

• Topic publish:

/cam0/arducam/triggered/camera/image_raw

• Read value from sensor register:

rosservice call /cam0/arducam/read_reg (register address)

Example, to obtain chip version: rosservice call /cam0/arducam/read_reg 0

• Write value to sensor register:

rosservice call /cam0/arducam/write_reg (register address) (value)

Example, to adjust exposure on MT9N001: rosservice call /cam0/arducam/write_reg 12306 100

• Software trigger image capture:

rosservice call /cam0/arducam/trigger

Software trigger or external trigger (pull TRIGGER pin to HIGH) captured image will be published to /cam0/arducam/triggered/camera/image_raw