wanderlusthan/mecheye_ros_interface

Official ROS interface for Mech-Eye cameras.

Mech-Eye ROS Interface

Official ROS interface for Mech-Eye cameras.

Please select the proper branch corresponding to the camera firmware version.

http://www.mech-mind.net/

Dependencies:

• ZeroMQ >= 4.2.1
• OpenCV >= 3
• PCL >= 1.7 or 1.8
• Eigen 3.3.0
• VTK 6.3.0

How to use interface functions of Mech-Eye cameras:

• Interface functions are declared in CameraClient.h.
• Connect to camera via specific ip address.
• Call other functions.

Instruction for ubuntu 16.04:

• Set up mecheye ros interface path:

cd YOUR_WORKSPACE_FOLDER (~/ros_ws/src for example)
git clone https://github.com/MechMindRobotics/mecheye_ros_interface.git && cd mecheye_ros_interface
mv CMakeLists_ubuntu16.txt CMakeLists.txt
export MECHEYE_PATH=${PWD}
mkdir -p $MECHEYE_PATH/3rdparty/src

• ZeroMQ install guide

cd $MECHEYE_PATH/3rdparty/src
wget https://github.com/zeromq/libzmq/releases/download/v4.3.2/zeromq-4.3.2.zip
unzip zeromq-4.3.2.zip
cd zeromq-4.3.2
./autogen.sh
./configure --prefix=$MECHEYE_PATH/3rdparty/libzmq
make -j7
make install

• OpenCV4 install guide OpenCV4 can be installed according to official documentation: https://docs.opencv.org/4.1.1/d7/d9f/tutorial_linux_install.html

sudo apt-get install build-essential
sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev

cd $MECHEYE_PATH/3rdparty/src
git clone https://github.com/opencv/opencv.git
git clone https://github.com/opencv/opencv_contrib.git
cd opencv
mkdir build && cd build
cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=$MECHEYE_PATH/3rdparty/opencv4 ..
make -j7
make install

Instruction for ubuntu 18.04:

• sudo apt install libzmq5 libzmq3-dev
• mkdir -p ~/ros_ws/src && cd ~/ros_ws/src
• git clone https://github.com/MechMindRobotics/mecheye_ros_interface
• cd ~/ros_ws && catkin_make
• Change config in ~/ros_ws/src/mecheye_ros_interface/launch/start_camera.launch
  • save_file: true to enable save file, otherwise keep it as false
  • camera_ip: change to your camera ip address here
  • at the moment, image save path can only be changed in source code /mecheye_ros_interface/src/main.cpp.

Instruction for using the camera:

• Source the build workspace: source ~/ros_ws/devel/setup.bash
• Run roslaunch mecheye_ros_interface start_camera.launch. Then, the camera will start working.
• Open a new terminal, source the workspace and run rosservice call /run_mechmind_camera to take a picture.