Add color camera settings as ROS parameters

CMakeLists.txt

@@ -43,6 +43,7 @@ add_executable(${PROJECT_NAME}_node
   src/k4a_ros_bridge_node.cpp
   src/k4a_ros_device.cpp
   src/k4a_ros_device_params.cpp
+  src/k4a_ros_color_params.cpp
   src/k4a_calibration_transform_data.cpp
   )
 
@@ -67,7 +68,7 @@ set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX ""
 #### AZURE KINECT SDK ######
 ############################
 
-message("Finding K4A SDK binaries")
+message(STATUS "Finding K4A SDK binaries")
 
 # Disable cached locations for K4A SDK binaries.
 # Do this to force the search logic to happen correctly.
@@ -79,7 +80,7 @@ message("Finding K4A SDK binaries")
 unset(k4a_DIR CACHE)
 
 # Force running the Findk4a.cmake module
-find_package(k4a 1.3.0 QUIET MODULE REQUIRED)
+find_package(k4a 1.4.0 QUIET MODULE REQUIRED)
 set(K4A_LIBS k4a::k4a;k4a::k4arecord)
 
 # Try to find and enable the body tracking SDK
@@ -89,7 +90,7 @@ if (k4abt_FOUND)
   message(STATUS "Body Tracking SDK found: compiling support for Body Tracking")
   target_compile_definitions(${PROJECT_NAME}_node PUBLIC K4A_BODY_TRACKING)
 else()
-  message("!!! Body Tracking SDK not found: body tracking features will not be available !!!")
+  message(STATUS "!!! Body Tracking SDK not found: body tracking features will not be available !!!")
 endif()
 
 # This reads the K4A_LIBS and K4A_INSTALL_REQUIRED variables and decides how to install
@@ -114,9 +115,6 @@ target_link_libraries(${PROJECT_NAME}_node
 
 ## Mark executables and/or libraries for installation
 install(TARGETS ${PROJECT_NAME}_node
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-  RUNTIME DESTINATION bin
   DESTINATION lib/${PROJECT_NAME}
 )
 
@@ -128,4 +126,4 @@ install(
   DESTINATION share/${PROJECT_NAME}/
 )
 
-ament_package()
+ament_package()

README.md

@@ -4,7 +4,25 @@ This project is a node which publishes sensor data from the [Azure Kinect Develo
 
 This repository uses the [Azure Kinect Sensor SDK](https://github.com/microsoft/Azure-Kinect-Sensor-SDK) to communicate with the Azure Kinect DK. It supports both Linux and Windows installations of ROS.
 
-[![Build Status](https://dev.azure.com/ms/Azure_Kinect_ROS_Driver/_apis/build/status/microsoft.Azure_Kinect_ROS_Driver?branchName=melodic)](https://dev.azure.com/ms/Azure_Kinect_ROS_Driver/_build/latest?definitionId=166&branchName=melodic)
+## Dependencies
+```
+cd --
+sudo apt install libsoundio2
+wget https://github.com/asukiaaa/Azure-Kinect-Sensor-SDK/releases/download/2923-08-26-ubuntu-22-04/libk4a1.4_1.4.1_amd64.deb
+sudo dpkg -i libk4a1.4_1.4.1_amd64.deb
+rm libk4a1.4_1.4.1_amd64.deb
+sudo ldconfig
+
+pip3 install xacro
+sudo apt install ros-humble-joint-state-publisher
+```
+
+# INSTALL AZURE KINECT ROS DRIVER
+
+cd ~/otto_ws/src
+pip3 install xacro
+sudo apt install ros-humble-joint-state-publisher
+
 
 ## Features
 

cmake/Installk4a.cmake

@@ -41,9 +41,9 @@ foreach(_lib ${K4A_LIBS})
     endif()
 endforeach()
 
-message("K4A Libs: ${K4A_LIBS}")
-message("K4A DLLs: ${K4A_DLL_FILES}")
-message("K4A Install Needed: ${K4A_INSTALL_NEEDED}")
+message(STATUS "K4A Libs: ${K4A_LIBS}")
+message(STATUS "K4A DLLs: ${K4A_DLL_FILES}")
+message(STATUS "K4A Install Needed: ${K4A_INSTALL_NEEDED}")
 
 if (${K4A_INSTALL_NEEDED})
   # Tell cmake that we need to reconfigure if any of the DLL files change

include/azure_kinect_ros_driver/k4a_ros_color_params.h

@@ -0,0 +1,66 @@
+// Copyright (c) Microsoft Corporation. All rights reserved.
+// Licensed under the MIT License.
+
+#ifndef K4A_ROS_COLOR_PARAMS_H
+#define K4A_ROS_COLOR_PARAMS_H
+
+// System headers
+//
+
+// Library headers
+//
+#include <k4a/k4a.h>
+#include <k4a/k4a.hpp>
+#include "rclcpp/rclcpp.hpp"
+// Project headers
+//
+
+// The format of these list entries is :
+//
+// LIST_ENTRY(param_variable, param_help_string, param_type, param_default_val)
+//
+// param_variable: the variable name which will be created in the k4a_ros_device class to hold the contents of the
+//    parameter
+// param_help_string: a string containing help information for the parameter
+// param_type: the type of the parameter
+// param_default_val: the default value of the parameter
+//
+// Example:
+// LIST_ENTRY(sensor_sn, "The serial number of the sensor this node should connect with", std::string, std::string(""))
+#define ROS_PARAM_LIST_COLOR                                                                                           \
+  LIST_ENTRY(exposure_auto, "True if using auto exposure time", bool, true)                                            \
+  LIST_ENTRY(exposure_time, "Exposure time is measured in microseconds", int, 16670)                                   \
+  LIST_ENTRY(whitebalance_auto, "True if using auto whitebalance", bool, true)                                         \
+  LIST_ENTRY(whitebalance_val, "The unit is degrees Kelvin."                                                           \
+                                "The setting must be set to a value evenly divisible by 10 degrees, "                  \
+                                "between 2500 and 12500.", int, 4500)                                                  \
+  LIST_ENTRY(brightness, "Brightness value, the valid range is 0 to 255.", int, 128)                                   \
+  LIST_ENTRY(contrast, "Contrast value, the valid range is 0 to 10", int, 5)                                           \
+  LIST_ENTRY(saturation, "Saturation value, the valid range is 0 to 63", int, 32)                                      \
+  LIST_ENTRY(sharpness, "Sharpness value, the valid range is 0 to 4", int, 2)                                          \
+  LIST_ENTRY(gain, "Gain value, the valid range is 0 to 255", int, 128)                                                \
+  LIST_ENTRY(powerline_frequency, "Value of 1 sets the powerline compensation to 50 Hz. "                              \
+                                  "Value of 2 sets the powerline compensation to 60 Hz.", int, 1)                      \
+  LIST_ENTRY(backlight_compensation, "Backlight compensation enable", bool, false)
+
+class K4AROSColorParams : public rclcpp::Node
+{
+public:
+  K4AROSColorParams();
+
+  // Set color config from a set of parameters
+  bool SetColorConfig(k4a::device &device);
+
+  // Print help messages to the console
+  void Help();
+
+  // Print the value of all parameters
+  void Print();
+
+// Parameters
+#define LIST_ENTRY(param_variable, param_help_string, param_type, param_default_val) param_type param_variable;
+  ROS_PARAM_LIST_COLOR
+#undef LIST_ENTRY
+};
+
+#endif  // K4A_ROS_COLOR_PARAMS_H

include/azure_kinect_ros_driver/k4a_ros_device.h

@@ -33,6 +33,7 @@
 //
 #include "azure_kinect_ros_driver/k4a_calibration_transform_data.h"
 #include "azure_kinect_ros_driver/k4a_ros_device_params.h"
+#include "azure_kinect_ros_driver/k4a_ros_color_params.h"
 
 class K4AROSDevice : public rclcpp::Node
 {
@@ -143,6 +144,7 @@ class K4AROSDevice : public rclcpp::Node
 
   // Parameters
   K4AROSDeviceParams params_;
+  K4AROSColorParams color_params_;
 
   // K4A device
   k4a::device k4a_device_;

launch/driver.launch.py

@@ -137,6 +137,53 @@ def generate_launch_description():
         'subordinate_delay_off_master_usec',
         default_value="0",
         description="Delay subordinate camera off master camera by specified amount in usec."),
+    DeclareLaunchArgument(
+        'exposure_auto',
+        default_value="true",
+        description="Set exposure to automatic (true) or manual (false)."),
+    DeclareLaunchArgument(
+        'exposure_time',
+        default_value="16670",
+        description="Exposure time is measured in microseconds"),
+    DeclareLaunchArgument(
+        'whitebalance_auto',
+        default_value="true",
+        description="Set whitebalance to automatic (true) or manual (false)."),
+    DeclareLaunchArgument(
+        'whitebalance_val',
+        default_value="4500",
+        description="Whitebalance value unit in degrees Kelvin." \
+                    "The setting must be set to a value evenly divisible by 10 degrees, " \
+                    "between 2500 and 12500 "),
+    DeclareLaunchArgument(
+        'brightness',
+        default_value="127",
+        description="Brightness value, the valid range is 0 to 255"),
+    DeclareLaunchArgument(
+        'contrast',
+        default_value="5",
+        description="Contrast value, the valid range is 0 to 10"),
+    DeclareLaunchArgument(
+        'saturation',
+        default_value="32",
+        description="Saturation value, the valid range is 0 to 63"),
+    DeclareLaunchArgument(
+        'sharpness',
+        default_value="2",
+        description="Sharpness value, the valid range is 0 to 4"),
+    DeclareLaunchArgument(
+            'gain',
+            default_value="128",
+            description="Gain value, the valid range is 0 to 255"),
+    DeclareLaunchArgument(
+        'powerline_frequency',
+        default_value="1",
+        description="Value of 1 sets the powerline compensation to 50 Hz. "
+                    "Value of 2 sets the powerline compensation to 60 Hz."),
+    DeclareLaunchArgument(
+        'backlight_compensation',
+        default_value="false",
+        description="Backlight compensation enable"),
     launch_ros.actions.Node(
         package='azure_kinect_ros_driver',
         executable='node',
@@ -161,7 +208,19 @@ def generate_launch_description():
             {'ir_mono8_scaling_factor': launch.substitutions.LaunchConfiguration('ir_mono8_scaling_factor')},
             {'imu_rate_target': launch.substitutions.LaunchConfiguration('imu_rate_target')},
             {'wired_sync_mode': launch.substitutions.LaunchConfiguration('wired_sync_mode')},
-            {'subordinate_delay_off_master_usec': launch.substitutions.LaunchConfiguration('subordinate_delay_off_master_usec')}]),
+            {'subordinate_delay_off_master_usec': launch.substitutions.LaunchConfiguration('subordinate_delay_off_master_usec')},
+            {'exposure_auto': launch.substitutions.LaunchConfiguration('exposure_auto')},
+            {'exposure_time': launch.substitutions.LaunchConfiguration('exposure_time')},
+            {'whitebalance_auto': launch.substitutions.LaunchConfiguration('whitebalance_auto')},
+            {'whitebalance_val': launch.substitutions.LaunchConfiguration('whitebalance_val')},
+            {'brightness': launch.substitutions.LaunchConfiguration('brightness')},
+            {'contrast': launch.substitutions.LaunchConfiguration('contrast')},
+            {'saturation': launch.substitutions.LaunchConfiguration('saturation')},
+            {'sharpness': launch.substitutions.LaunchConfiguration('sharpness')},
+            {'gain': launch.substitutions.LaunchConfiguration('gain')},
+            {'powerline_frequency': launch.substitutions.LaunchConfiguration('powerline_frequency')},
+            {'backlight_compensation': launch.substitutions.LaunchConfiguration('backlight_compensation')}
+        ]),
     # If flag overwrite_robot_description is set:
     launch_ros.actions.Node(
         package='robot_state_publisher',

launch/driver_simple.launch.py

@@ -0,0 +1,47 @@
+import launch
+import launch.actions
+import launch.substitutions
+import launch_ros.actions
+import os
+
+def generate_launch_description():
+    azure_kinect_ros_driver_node = launch_ros.actions.Node(
+        package='azure_kinect_ros_driver',
+        executable='node',
+        output='screen',
+        parameters=[
+            {'depth_enabled': True},
+            {'depth_mode': 'NFOV_2X2BINNED'},
+            {'depth_unit': '16UC1'},
+            {'color_enabled': True},
+            {'color_format': 'bgra'},
+            {'color_resolution': '1080P'},
+            {'fps': 30},
+            {'point_cloud': True},
+            {'rgb_point_cloud': True},
+            {'point_cloud_in_depth_frame': True},
+            {'imu_rate_target': 0},
+            {'exposure_auto': True},
+            {'exposure_time': 15000},
+            {'whitebalance_auto': True},
+            {'whitebalance_val': 4500},
+            {'brightness': 128},
+            {'contrast': 5},
+            {'saturation': 32},
+            {'sharpness': 2},
+            {'gain': 128}
+        ]
+    )
+    azure_kinect_debugger_node = launch_ros.actions.Node(
+        package='azure_kinect_debugger',
+        executable='kinect_subscriber'    
+    )
+
+    return launch.LaunchDescription([
+        azure_kinect_ros_driver_node,
+        azure_kinect_debugger_node,
+    ])
+
+
+if __name__ == '__main__':
+    generate_launch_description()