搭建实验室3d slam 移动小车 3.2jackal移动平台axis-ptz魚眼摄像头调试

搭建实验室3d slam 移动小车 3.2jackal移动平台axis-ptz魚眼摄像头调试

因为套件包含的axis-ptz魚眼摄像头是由智科特机器人提供的，这次调试主要依赖于闫工的帮助，在此感谢闫工的帮忙。
智科特机器人修改的axis-camera代码
ROS-WIKI上的 axis-camera 代码
自用axis-carmea ROS功能包下载地址
如下为实拍视频，左下角为使用ps4手柄进行无线控制axis-carmea摄像头移动画面

axis-ptz 蓝牙遥控魚眼相机

IP调试

魚眼相机的IP为 192.168.80.1

ping 192.168.80.1

接收数据成功

打开浏览器，输入 192.168.80.1，输入用户名 iqr 密码123

即可在浏览器看到 魚眼相机的画面，并可调节

ROS上打开axis-camera rviz显示图像，并使用ps4控制镜头转动

#启动jackal底盘和ps4 ROS驱动
roslaunch jackal_base base.launch

#启动axis摄像头
roslaunch axis_camera axis.launch

#打开rviz
rosrun rviz rviz

添加 axis_camera/image_raw/compressed/image 话题

左下角可看到魚眼相机回传的画面

通过PS4摇杆可以调节魚眼摄像头的方向

topics

rostopic  list 
/axis_camera/image_info
/axis_camera/image_raw/compressed
/axis_camera_image_proc_debayer/parameter_descriptions
/axis_camera_image_proc_debayer/parameter_updates
/axis_camera_image_proc_rectify_color/parameter_descriptions
/axis_camera_image_proc_rectify_color/parameter_updates
/axis_camera_image_proc_rectify_mono/parameter_descriptions
/axis_camera_image_proc_rectify_mono/parameter_updates
/axis_camera_republisher/compressed/parameter_descriptions
/axis_camera_republisher/compressed/parameter_updates
/axis_ptz_cmd
/axis_ptz_msg
/bluetooth_teleop/cmd_vel
/bluetooth_teleop/joy
/bluetooth_teleop/joy/set_feedback
/cmd_drive
/cmd_vel
/compressed
/diagnostics
/diagnostics_agg
/diagnostics_toplevel_state
/e_stop
/feedback
/image_color
/image_color/compressed
/image_color/compressed/parameter_descriptions
/image_color/compressed/parameter_updates
/image_color/compressedDepth
/image_color/compressedDepth/parameter_descriptions
/image_color/compressedDepth/parameter_updates
/image_color/theora
/image_color/theora/parameter_descriptions
/image_color/theora/parameter_updates
/image_mono
/image_mono/compressed
/image_mono/compressed/parameter_descriptions
/image_mono/compressed/parameter_updates
/image_mono/compressedDepth
/image_mono/compressedDepth/parameter_descriptions
/image_mono/compressedDepth/parameter_updates
/image_mono/theora
/image_mono/theora/parameter_descriptions
/image_mono/theora/parameter_updates
/image_raw
/image_rect
/image_rect/compressed
/image_rect/compressed/parameter_descriptions
/image_rect/compressed/parameter_updates
/image_rect/compressedDepth
/image_rect/compressedDepth/parameter_descriptions
/image_rect/compressedDepth/parameter_updates
/image_rect/theora
/image_rect/theora/parameter_descriptions
/image_rect/theora/parameter_updates
/image_rect_color
/image_rect_color/compressed
/image_rect_color/compressed/parameter_descriptions
/image_rect_color/compressed/parameter_updates
/image_rect_color/compressedDepth
/image_rect_color/compressedDepth/parameter_descriptions
/image_rect_color/compressedDepth/parameter_updates
/image_rect_color/theora
/image_rect_color/theora/parameter_descriptions
/image_rect_color/theora/parameter_updates
/imu/data
/imu/data_raw
/imu/mag
/imu_filter/parameter_descriptions
/imu_filter/parameter_updates
/jackal_velocity_controller/cmd_vel
/jackal_velocity_controller/odom
/jackal_velocity_controller/parameter_descriptions
/jackal_velocity_controller/parameter_updates
/joint_states
/joy_teleop/cmd_vel
/navsat/fix
/navsat/nmea_sentence
/navsat/time_reference
/navsat/vel
/odometry/filtered
/rosout
/rosout_agg
/rviz_1611484577222807153/compressed/parameter_descriptions
/rviz_1611484577222807153/compressed/parameter_updates
/set_pose
/status
/tf
/tf_static
/twist_marker_server/cmd_vel
/twist_marker_server/feedback
/twist_marker_server/update
/twist_marker_server/update_full
/wifi_connected