Use ipm distortion instead of image rectification

.devcontainer/Dockerfile

@@ -57,12 +57,9 @@ RUN apt-get install -y \
   ros-iron-camera-calibration \
   ros-iron-desktop \
   ros-iron-joint-state-publisher-gui \
-  # ros-iron-plotjuggler-ros containing plotjuggler ros plugins
-  # build currently fails and is not available as a package so we
-  # have to manually install plotjuggler and plotjuggler-msgs
-  # https://github.com/PlotJuggler/plotjuggler-ros-plugins/issues/59
   ros-iron-plotjuggler \
   ros-iron-plotjuggler-msgs \
+  ros-iron-plotjuggler-ros \
   ros-iron-rmw-cyclonedds-cpp \
   ros-iron-rqt-robot-monitor \
   ros-iron-soccer-vision-3d-rviz-markers

.github/workflows/ci.yml

@@ -45,5 +45,5 @@ jobs:
           . /opt/ros/iron/setup.sh
           . install/setup.sh
           # Run tests for all packages
-          colcon test --packages-skip-regex pylon --event-handlers console_direct+ --return-code-on-test-failure --parallel-workers 1
+          colcon test --event-handlers console_direct+ --return-code-on-test-failure --parallel-workers 1
         working-directory: /colcon_ws

.vscode/c_cpp_properties.json

@@ -16,7 +16,8 @@
                 "/root/colcon_ws/build/**/rosidl_generator_cpp/**",
                 "${workspaceFolder}/**/include/**",
                 "/opt/ros/${env:ROS_DISTRO}/include/**",
-                "/usr/include/**"
+                "/usr/include/**",
+                "/opt/pylon/include/**"
             ],
             "name": "ROS",
             "intelliSenseMode": "gcc-x64",

.vscode/settings.json

@@ -190,7 +190,9 @@
         "typeindex": "cpp",
         "typeinfo": "cpp",
         "valarray": "cpp",
-        "variant": "cpp"
+        "variant": "cpp",
+        "regex": "cpp",
+        "future": "cpp"
     },
     // Tell the ROS extension where to find the setup.bash
     // This also utilizes the COLCON_WS environment variable, which needs to be set

bitbots_misc/bitbots_basler_camera/CMakeLists.txt

@@ -1,11 +1,50 @@
 cmake_minimum_required(VERSION 3.5)
 project(bitbots_basler_camera)
 
-find_package(bitbots_docs REQUIRED)
+# Add support for C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
 find_package(ament_cmake REQUIRED)
+find_package(backward_ros REQUIRED)
+find_package(bitbots_docs REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(image_transport REQUIRED)
+find_package(OpenCV REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(pylon 7.1.0 REQUIRED)
+find_package(camera_info_manager REQUIRED)
+find_package(generate_parameter_library REQUIRED)
+
+add_compile_options(-Wall -Werror -Wno-unused)
+
+generate_parameter_library(
+  pylon_camera_parameters # cmake target name for the parameter library
+  config/camera_settings.yaml)
+
+add_executable(basler_camera src/basler_camera.cpp)
+
+target_link_libraries(basler_camera ${OpenCV_LIBRARIES} pylon::pylon
+                      pylon_camera_parameters)
+
+ament_target_dependencies(
+  basler_camera
+  ament_cmake
+  bitbots_docs
+  cv_bridge
+  image_transport
+  rclcpp
+  sensor_msgs
+  camera_info_manager
+  generate_parameter_library
+  OpenCV)
 
 enable_bitbots_docs()
 
+install(TARGETS basler_camera DESTINATION lib/${PROJECT_NAME})
+
 install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
 
 install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})

bitbots_misc/bitbots_basler_camera/config/camera_settings.yaml

@@ -1,112 +1,69 @@
-pylon_camera_node:
-  ros__parameters:
-    #  The tf frame under which the images were published
-    camera_frame: camera_optical_frame
-
-    #  The encoding of the pixels -- channel meaning, ordering, size
-    #  taken from the list of strings in include/sensor_msgs/image_encodings.h
-    #  The supported encodings are 'mono8', 'bgr8', 'rgb8', 'bayer_bggr8',
-    #  'bayer_gbrg8' and 'bayer_rggb8'
-    #  Default values are 'mono8' and 'rgb8'
-    image_encoding: "bayer_rggb8"
-
-    #  Binning factor to get downsampled images. It refers here to any camera
-    #  setting which combines rectangular neighborhoods of pixels into larger
-    #  "super-pixels." It reduces the resolution of the output image to
-    #  (width / binning_x) x (height / binning_y).
-    #  The default values binning_x = binning_y = 0 are considered the same
-    #  as binning_x = binning_y = 1 (no subsampling).
-    #  binning_x: 4
-    #  binning_y: 4
-
-    #  The desired publisher frame rate if listening to the topics.
-    #  This parameter can only be set once at startup
-    #  Calling the GrabImages-Action can result in a higher framerate
-    frame_rate: 10.0
-
-    #  Mode of camera's shutter.
-    #  The supported modes are "rolling", "global" and "global_reset"
-    #  Default value is "" (empty) means default_shutter_mode
-    shutter_mode: "global"
-
-    ##########################################################################
-    ######################## Image Intensity Settings ########################
-    ##########################################################################
-    # The following settings do *NOT* have to be set. Each camera has default
-    # values which provide an automatic image adjustment resulting in valid
-    # images
-    ##########################################################################
-
-    #  The exposure time in microseconds to be set after opening the camera.
-    exposure: 3000.0
-
-    #  The target gain in percent of the maximal value the camera supports
-    #  For USB-Cameras, the gain is in dB, for GigE-Cameras it is given in so
-    #  called 'device specific units'.
-    gain: 0.55
-
-    #  Gamma correction of pixel intensity.
-    #  Adjusts the brightness of the pixel values output by the camera's sensor
-    #  to account for a non-linearity in the human perception of brightness or
-    #  of the display system (such as CRT).
-    gamma: 1.0
-
-    #  The average intensity value of the images. It depends the exposure time
-    #  as well as the gain setting. If 'exposure' is provided, the interface will
-    #  try to reach the desired brightness by only varying the gain. (What may
-    #  often fail, because the range of possible exposure vaules is many
-    #  times higher than the gain range). If 'gain' is provided, the interface will
-    #  try to reach the desired brightness by only varying the exposure time. If
-    #  gain AND exposure are given, it is not possible to reach the brightness,
-    #  because both are assumed to be fix.
-    # brightness: 100
-
-    #  Only relevant, if 'brightness' is set:
-    #  The brightness_continuous flag controls the auto brightness function.
-    #  If it is set to false, the brightness will only be reached once.
-    #  Hence changing light conditions lead to changing brightness values.
-    #  If it is set to true, the given brightness will be reached continuously,
-    #  trying to adapt to changing light conditions. This is only possible for
-    #  values in the possible auto range of the pylon API which is e.g. [50 - 205]
-    #  for acA2500-14um and acA1920-40gm
-    # brightness_continuous: true
-
-    #  Only relevant, if 'brightness' is set:
-    #  If the camera should try to reach and / or keep the brightness, hence
-    #  adapting to changing light conditions, at least one of the following flags
-    #  must be set.
-    #  If both are set, the interface will use the profile that tries to keep the
-    #  gain at minimum to reduce white noise.
-    #  The exposure_auto flag indicates, that the desired brightness will be
-    #  reached by adapting the exposure time.
-    #  The gain_auto flag indicates, that the desired brightness will be
-    #  reached by adapting the gain.
-    # exposure_auto: true
-    # gain_auto: true
-
-    ##########################################################################
-
-    #  The timeout while searching the exposure which is connected to the
-    #  desired brightness. For slow system this has to be increased.
-    # exposure_search_timeout: 5.0
-
-    #  The exposure search can be limited with an upper bound. This is to prevent
-    #  very high exposure times and resulting timeouts.
-    #  A typical value for this upper bound is ~2000000us.
-    # auto_exposure_upper_limit: 2000000.0
-
-    #  The MTU size. Only used for GigE cameras.
-    #  To prevent lost frames configure the camera has to be configured
-    #  with the MTU size the network card supports. A value greater 3000
-    #  should be good (1500 for RaspberryPI)
-    # gige:
-    gige/mtu_size: 8000
-
-    #  Only used for GigE cameras.
-    #  The inter-package delay in ticks to prevent lost frames.
-    #  For most of GigE-Cameras, a value of 1000 is reasonable.
-    #  For cameras used on a RaspberryPI this value should be set to 11772.
-    # gige:
-    gige/inter_pkg_delay: 4000
-
-    rectification_active: false
+pylon_camera_parameters:
+  exposure:
+    type: double
+    default_value: 3000.0
+    description: "The exposure time in microseconds to be set after opening the camera."
+    validation:
+      bounds<>: [0.0, 1000000.0]
+  gain:
+    type: int
+    default_value: 200
+    description: "The target raw gain of the camera sensor (similar to ISO)."
+    validation:
+      bounds<>: [0, 360]
+  fps:
+    type: double
+    default_value: 10.0
+    read_only: true
+    description: "Target frame rate of the camera / publisher."
+    validation:
+      bounds<>: [0.0, 30.0]
+  binning_factor_x:
+    type: int
+    default_value: 4
+    read_only: true
+    description: "Binning factor to get downsampled images in x direction."
+    validation:
+      gt_eq<>: [1]
+  binning_factor_y:
+    type: int
+    default_value: 4
+    read_only: true
+    description: "Binning factor to get downsampled images in y direction."
+    validation:
+      gt_eq<>: [1]
+  camera_info_url:
+    type: string
+    default_value: ""
+    read_only: true
+    description: "The URL of the camera calibration file."
+    validation:
+      not_empty<>: []
+  device_user_id:
+    type: string
+    default_value: ""
+    read_only: true
+    description: "The name of the camera (used to discover the camera). The name can be set in the pylon viewer."
+    validation:
+      not_empty<>: []
+  camera_frame_id:
+    type: string
+    default_value: "camera_optical_frame"
+    read_only: true
+    description: "The tf frame at which the camera's optical center is located."
+    validation:
+      not_empty<>: []
+  gige:
+    mtu_size:
+      type: int
+      default_value: 9000
+      description: "The MTU size for GigE cameras."
+      read_only: true
+
+    inter_pkg_delay:
+      type: int
+      default_value: 1000
+      description: "The inter-package delay in 'ticks' for GigE cameras."
+      read_only: true
+      validation:
+        bounds<>: [0, 10000]