husarion-camera

The husarion-camera snap contains all the necessary software to bring the v4l2 camera ROS2 node up and running.

Parameters

The snap provides the following configurable parameters (param name: default value):



• driver: {...}
• ros: {...}
• usb: {...}


The ros contains the following keys:



• ros.domain-id: 0 - Sets the ROSDOMAINID environment variable for the ROS driver.
• ros.localhost-only: 0 - Sets the ROSLOCALHOSTONLY environment variable for the ROS driver.
• ros.transport: udp - Configures DDS transport. Options are udp, shm, builtin (or rmwfastrtpscpp), rmwcycloneddscpp. Corresponding DDS XML files can be found in the /var/snap/husarion-depthai/common directory (custom FastDDS setups can also be created here).
• ros.namespace: (unset) - Namespace for all topics and transforms.


The driver contains the following keys:



• camera-params: default - Sets the camera parameters based on /var/snap/husarion-camera/common/camera-params-<VALUE>.yaml
• device-namespace: v4l2camera - Prefix to the camera node name and all topics.
• ffmpeg-params: default - Sets the FFMPEG parameters based on /var/snap/husarion-camera/common/ffmpeg-params-<VALUE>.yaml
• video-device: /dev/video0 - Select the video device to use or set auto to automatically select the video device based on usb.id-vendor and usb-id-product.


The usb contains the following keys:



• usb.id-vendor: (unset) - USB camera vendor ID (get if from lsusb).
• usb.id-product: (unset)` - USB camera product ID.

To set the parameters, use the snap set command, e.g.,

snap set husarion-camera driver.device-namespace=front-camera