PointGrey-with-djiros

1. Download code

Enter your catkin work space

cd YOUR_PATH/catkin_ws/src  
  
git clone https://github.com/pjrambo/PointGrey-with-djiros.git

2. Install dependency for ptgrey

2.1 Install libusb-1.0.21

cd YOUR_PATH/catkin_ws/src/PointGrey-with-djiros/ptgrey_reader/install/usb/  
  
tar jxvf libusb-1.0.21.tar.bz2  
  
cd libusb-1.0.21/  

You can follow the INSTALL file in the folder or follow the command below:

./configure  
  
make  
  
make install  

2.2 Install driver for ptgrey

According to your platform, use the different command below:

cd YOUR_PATH/catkin_ws/src/PointGrey-with-djiros/ptgrey_reader/install/amd64/  
  OR  
    cd YOUR_PATH/catkin_ws/src/PointGrey-with-djiros/ptgrey_reader/install/arm64/

tar zxvf flycapture2-2.11.3.121-amd64-pkg.tgz  
  OR  
    tar zxvf flycapture.2.11.3.121_arm64.tar.gz  
cd flycapture2-2.11.3.121-amd64/  
  OR  
    cd flycapture.2.11.3.121_arm64/

You can follow the README file in the folder or follow the command below:

sudo apt-get install libraw1394-11 libgtkmm-2.4-dev                    \
        libglademm-2.4-dev libgtkglextmm-x11-1.2-dev libusb-1.0-0

FLYCAPTURE2 INSTALLATION:

sudo sh install_flycapture.sh

3. Others

You may need to install armadillo

sudo apt-get install libarmadillo-dev  

cd YOUR_PATH/catkin_ws/  
  
catkin_make

Before using that you may need to give the enough authority

sudo gedit cd /etc/udev/rules.d/40-flir.rules

Change all the 0613 to 777 in the "40-flir.rules" and save. Then restart the system.

4. Run

First, you need to run the camera_list to see your camera ID number, and copy it to the launch file.

roscore  
  
rosrun ptgrey_reader camera_list

After you change the launch file with the ID number,

roslaunch roslaunch ptgrey_reader YOUR_LAUNCH.launch  
  
roslaunch djiros djirostrigger.launch

If you want to use muti-camera, you need to excute this command first and roslaunch each camera's launch you need:

sudo -S sh -c 'echo 2048 > /sys/module/usbcore/parameters/usbfs_memory_mb'