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This software provides ROS drivers for the ximea xiQ USB 3.0 Cameras. This driver supports image acquisition from an arbitrary number of cameras, so long as there is sufficient bandwidth on the USB 3.0 bus to perform the data transfer. In order to operate the cameras, the serial numbers of the devices must be known.

This package is working in ROS Indigo. For a working package in ROS Melodic see http://wiki.ros.org/ximea_ros_cam


This software requires the Ximea Linux Software Package. See http://www.ximea.com/support/wiki/apis/XIMEA_Linux_Software_Package for details.


1) Create a configuration file for each camera. The configuration file should be kept in the /config folder. A configuration file will look as follows:

serial_no: 32301951
cam_name: "camera1"
yaml_url: "package://mcptam/calibrations/camera1.yaml"
exposure_time: 30000
rect_left: 200
rect_top: 200
rect_height: 600
rect_width: 900
image_data_format: "XI_MONO8"

2) Create a launch file for your camera configuration. A typical launch file will look as follows:

   1 <launch>
   2 <!-- Camera Node -->
   3 <node name="ximea" pkg="ximea_camera" type="ximea_camera_node" output="screen" >
   4   <param name="frame_rate" type="int" value="60" />
   6   <rosparam param="camera_param_file_paths" subst_value="true">[$(find ximea_camera)/config/ximea1.yaml, $(find ximea_camera)/config/ximea2.yaml]</rosparam>
   8 </node>
   9 </launch>

The main parameters of interest are the frame rate and the file paths.

   1 <rosparam param="camera_param_file_paths" subst_value="true"> [$(find ximea_camera)/config/ximea1.yaml] </rosparam>

while a three camera setup would have a list containing the file names for the configuration files of all three cameras, separated by commas:

   1 <rosparam param="camera_param_file_paths" subst_value="true">[$(find ximea_camera)/config/ximea1.yaml, $(find ximea_camera)/config/ximea2.yaml, $(find ximea_camera)/config/ximea3.yaml]</rosparam>

3) You should now be able to plug in the cameras and launch the file created in step 2.

Published Topics

Each set of published topics will be under the namespace corresponding to the camera name. Each camera will publish:

/camera_info, which is of ROS message type sensor_msgs/CameraInfo. This message carries all of the camera specific calibration information.

/image_raw/, which of of ROS message type sensor_msgs/Image. This message carries the image data.

2024-06-15 13:49