Features added & major rewrite.

.gitignore

@@ -2,3 +2,5 @@
 *.tar.gz
 *~
 TAGS
+axis_214_PTZ_standalone.urdf
+doc/html

CMakeLists.txt

@@ -1,30 +1,59 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(axis_camera)
 
-find_package(catkin REQUIRED
-  COMPONENTS
+set(THIS_PACKAGE_MESSAGE_DEPS
+  sensor_msgs
+  std_msgs
+)
+# packages which are both build and run dependencies
+set(THIS_PACKAGE_DEPS
+  camera_info_manager_py
+  diagnostic_aggregator
+  diagnostic_msgs
+  diagnostic_updater
   dynamic_reconfigure
-  geometry_msgs
-  message_generation
+  rospy
+  sensor_msgs
   std_msgs
+  tf
+  ${THIS_PACKAGE_MESSAGE_DEPS}
 )
+
+find_package(catkin REQUIRED COMPONENTS message_generation xacro ${THIS_PACKAGE_DEPS})
 catkin_python_setup()
 
 # ROS message generation
-add_message_files(FILES Axis.msg)
-generate_messages(DEPENDENCIES geometry_msgs std_msgs)
-generate_dynamic_reconfigure_options(cfg/PTZ.cfg)
+add_message_files(FILES
+  PTZ.msg
+  PointInRectangle.msg
+  Axis.msg # deprecated
+)
+add_service_files(FILES
+  TakeSnapshot.srv
+)
+generate_messages(DEPENDENCIES ${THIS_PACKAGE_MESSAGE_DEPS})
 
-catkin_package()
+generate_dynamic_reconfigure_options(
+  cfg/Camera.cfg
+  cfg/VideoStream.cfg
+  cfg/PTZ.cfg # deprecated
+)
+
+# Generate the standalone URDF version.
+xacro_add_xacro_file(${CMAKE_CURRENT_SOURCE_DIR}/urdf/axis_214_PTZ_standalone.xacro
+                    ${CMAKE_CURRENT_SOURCE_DIR}/urdf/axis_214_PTZ_standalone.urdf)
+add_custom_target(axis_camera_media_files_urdf ALL DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/urdf/axis_214_PTZ_standalone.urdf)
+
+catkin_package(CATKIN_DEPENDS message_runtime ${THIS_PACKAGE_DEPS})
 
 install(PROGRAMS
   nodes/axis.py
   nodes/axis_ptz.py
-  nodes/publish_axis_tf.py
   nodes/teleop.py
   nodes/teleop_speed_control.py
+  nodes/keyboard_teleop.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
-install(DIRECTORY launch tests
+install(DIRECTORY launch tests meshes urdf
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-
+install(FILES diag.yaml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

README.rst

@@ -1,26 +1,14 @@
-Overview
-========
+Axis camera driver for ROS
+==========================
 
-This ROS_ package provides an `Axis network camera`_ driver, written
-in Python.
+This ROS_ package provides an `Axis network camera`_ driver, written in Python. It provides both a ROS API (via ROS topics and parameters) and Python API (which can be used without having ROS at all).
 
-ROS wiki documentation: `axis_camera`_.
+Please see the documentation located here:
 
-This driver is under active development.  Its ROS interfaces are
-relatively stable, but may still change.  
+http://wiki.ros.org/axis_camera (ROS API)
 
-There is no released code API.
-
-**Warning**::
-
-  The master branch normally contains code being tested for the next
-  ROS release.  It does not always work with previous ROS distributions.
-  Sometimes, it may not work at all.
-
-Each official release is tagged in the repository. The `change
-history`_ describes every version.
+http://docs.ros.org/indigo/api/axis_camera/html/ (Python API)
 
 .. _`Axis network camera`: http://www.axis.com/products/video/camera/index.htm
-.. _`change history`: https://github.com/clearpathrobotics/axis_camera/blob/master/CHANGELOG.rst
 .. _`axis_camera`: http://ros.org/wiki/axis_camera
-.. _ROS: http://ros.org
+.. _ROS: http://ros.org

cfg/Camera.cfg

@@ -0,0 +1,24 @@
+#!/usr/bin/env python
+PACKAGE = "axis_camera"
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+
+gen.add("autofocus", bool_t, 0, "Autofocus", True)
+gen.add("focus", int_t, 0, "Focus", 5000, 1, 9999)
+
+gen.add("brightness", int_t, 0, "Brightness", 5000, 1, 9999)
+
+gen.add("autoiris", bool_t, 0, "Auto iris", True)
+gen.add("iris", int_t, 0, "Iris", 5000, 1, 9999)
+
+gen.add("backlight", bool_t, 0, "Backlight compensation (only with autoiris on)", False)
+
+auto_on_off_enum = gen.enum([gen.const("auto", str_t, "auto", "auto (only with autoiris on)"),
+                             gen.const("on", str_t, "on", "on"),
+                             gen.const("off", str_t, "off", "off")],
+                            "IR Cut filter")
+gen.add("ircutfilter", str_t, 0, "Infrared cut filter", "auto", edit_method=auto_on_off_enum)
+
+exit(gen.generate(PACKAGE, "axis_driver", "Camera"))

cfg/PTZ.cfg

@@ -8,7 +8,7 @@ gen = ParameterGenerator()
 #gen.add("speed_control", bool_t, 0, "Speed control (true) or absolute position control (false)", False)
 gen.add("autofocus", bool_t, 0, "Autofocus", True)
 gen.add("pan", double_t, 0, "Pan value in degrees (or percent in absolute mode)", 0, -180, 180)
-gen.add("tilt", double_t, 0, "Tilt value in degrees (or percent in absolute mode)", -45, -90, 0)
+gen.add("tilt", double_t, 0, "Tilt value in degrees (or percent in absolute mode)", 0, -180, 180)
 gen.add("zoom", double_t, 0, "Zoom value", 1, 1, 9999)
 gen.add("focus", double_t, 0, "Focus", 1, 1, 9999)
 gen.add("brightness", double_t, 0, "Brightness", 1, 1, 9999)

cfg/VideoStream.cfg

@@ -0,0 +1,20 @@
+#!/usr/bin/env python
+PACKAGE = "axis_camera"
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+
+gen.add("use_color", bool_t, 0, "Use color image (not B/W)", True)
+gen.add("compression", int_t, 0, "Compression level", 0, 0, 100)
+gen.add("fps", int_t, 0, "FPS", 24, 1, 30)
+
+# The resolution enum is filled with values using dynamic_reconfigure_tools.change_enum_items, so that it only offers
+# the resolutions supported by the camera in the Properties.Image.Resolution AXIS API parameter.
+# This is kind of a hack, but it works at least for ROS and Python APIs (not sure about C++).
+resolution_enum = gen.enum([gen.const("4CIF", str_t, "704x576", "4CIF (704x576)")], "Resolution")
+gen.add("resolution", str_t, 0, "Image resolution", "704x576", edit_method=resolution_enum)
+
+gen.add("use_square_pixels", bool_t, 0, "Stretch video to fit square pixels", True)
+
+exit(gen.generate(PACKAGE, "axis_driver", "VideoStream"))