Skip to content

Option to skip device check #376

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 1 commit into
base: main
Choose a base branch
from
+26 −16
Open

Option to skip device check #376

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
5 changes: 4 additions & 1 deletion include/usb_cam/usb_cam.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -125,6 +125,8 @@ typedef struct parameters_t
bool auto_white_balance;
bool autoexposure;
bool autofocus;
// When true, UsbCamNode will not validate the device exists in available V4L2 devices
bool skip_device_check;

parameters_t()
// *INDENT-OFF*
Expand All @@ -148,7 +150,8 @@ typedef struct parameters_t
focus(-1),
auto_white_balance(true),
autoexposure(true),
autofocus(false)
autofocus(false),
skip_device_check(false)
{
}
// *INDENT-ON*
Expand Down
37 changes: 22 additions & 15 deletions src/usb_cam_node.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -83,6 +83,7 @@ UsbCamNode::UsbCamNode(const rclcpp::NodeOptions & node_options)
this->declare_parameter("exposure", 100);
this->declare_parameter("autofocus", false);
this->declare_parameter("focus", -1); // 0-255, -1 "leave alone"
this->declare_parameter("skip_device_check", false); // allow bypassing V4L2 device list check

get_params();
init();
Expand Down Expand Up @@ -159,21 +160,25 @@ void UsbCamNode::init()
m_camera_info->setCameraInfo(*m_camera_info_msg);
}

// Check if given device name is an available v4l2 device
auto available_devices = usb_cam::utils::available_devices();
if (available_devices.find(m_parameters.device_name) == available_devices.end()) {
RCLCPP_ERROR_STREAM(
this->get_logger(),
"Device specified is not available or is not a vaild V4L2 device: `" <<
m_parameters.device_name << "`"
);
RCLCPP_INFO(this->get_logger(), "Available V4L2 devices are:");
for (const auto & device : available_devices) {
RCLCPP_INFO_STREAM(this->get_logger(), " " << device.first);
RCLCPP_INFO_STREAM(this->get_logger(), " " << device.second.card);
// Check if given device name is an available v4l2 device (unless skipped)
if (!m_parameters.skip_device_check) {
auto available_devices = usb_cam::utils::available_devices();
if (available_devices.find(m_parameters.device_name) == available_devices.end()) {
RCLCPP_ERROR_STREAM(
this->get_logger(),
"Device specified is not available or is not a vaild V4L2 device: `" <<
m_parameters.device_name << "`"
);
RCLCPP_INFO(this->get_logger(), "Available V4L2 devices are:");
for (const auto & device : available_devices) {
RCLCPP_INFO_STREAM(this->get_logger(), " " << device.first);
RCLCPP_INFO_STREAM(this->get_logger(), " " << device.second.card);
}
rclcpp::shutdown();
return;
}
rclcpp::shutdown();
return;
} else {
RCLCPP_WARN(this->get_logger(), "Skipping V4L2 device availability check by request.");
}

// if pixel format is equal to 'mjpeg', i.e. raw mjpeg stream, initialize compressed image message
Expand Down Expand Up @@ -231,7 +236,7 @@ void UsbCamNode::get_params()
"camera_name", "camera_info_url", "frame_id", "framerate", "image_height", "image_width",
"io_method", "pixel_format", "av_device_format", "video_device", "brightness", "contrast",
"saturation", "sharpness", "gain", "auto_white_balance", "white_balance", "autoexposure",
"exposure", "autofocus", "focus"
"exposure", "autofocus", "focus", "skip_device_check"
}
);

Expand Down Expand Up @@ -285,6 +290,8 @@ void UsbCamNode::assign_params(const std::vector<rclcpp::Parameter> & parameters
m_parameters.autofocus = parameter.as_bool();
} else if (parameter.get_name() == "focus") {
m_parameters.focus = parameter.as_int();
} else if (parameter.get_name() == "skip_device_check") {
m_parameters.skip_device_check = parameter.as_bool();
} else {
RCLCPP_WARN(this->get_logger(), "Invalid parameter name: %s", parameter.get_name().c_str());
}
Expand Down