UVCカメラのキャリブレーションファイルが要求される

[Tiryoh]

エラーではありませんが、chest_cameraを使用する際に下記のワーニングが出ます。 [ WARN] [1545895336.515155168]: Camera calibration file /home/rt-user/catkin_ws/src/sciurus17_ros/sciurus17_vision/config/chest_camera.yaml not found.

ログ詳細

$ roslaunch sciurus17_vision chest_camera.launch 
... logging to /home/rt-user/.ros/log/2304ffd2-09a8-11e9-aae7-b46bfcb8910b/roslaunch-rt-user-zenbookpro-30414.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.10.135:38153/

SUMMARY
========

PARAMETERS
 * /chest_camera_node/chest_camera_node/camera_info_url: file:///home/rt-u...
 * /chest_camera_node/chest_camera_node/camera_name: chest_camera
 * /chest_camera_node/chest_camera_node/device: /dev/chestcamera
 * /chest_camera_node/chest_camera_node/format: jpeg
 * /chest_camera_node/chest_camera_node/fps: 30
 * /chest_camera_node/chest_camera_node/frame_id: chest_camera_link
 * /chest_camera_node/chest_camera_node/height: 720
 * /chest_camera_node/chest_camera_node/io_method: mmap
 * /chest_camera_node/chest_camera_node/output_frame: chest_camera_link
 * /chest_camera_node/chest_camera_node/width: 1280
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /chest_camera_node/
    chest_camera_node (uvc_camera/uvc_camera_node)
    image_proc (image_proc/image_proc)
    transport (image_transport/republish)

auto-starting new master
process[master]: started with pid [30424]
ROS_MASTER_URI=http://192.168.10.135:11311

setting /run_id to 2304ffd2-09a8-11e9-aae7-b46bfcb8910b
process[rosout-1]: started with pid [30437]
started core service [/rosout]
process[chest_camera_node/chest_camera_node-2]: started with pid [30449]
process[chest_camera_node/transport-3]: started with pid [30455]
process[chest_camera_node/image_proc-4]: started with pid [30456]
[ INFO] [1545895336.515067184]: camera calibration URL: file:///home/rt-user/catkin_ws/src/sciurus17_ros/sciurus17_vision/config/chest_camera.yaml
[ INFO] [1545895336.515138236]: Unable to open camera calibration file [/home/rt-user/catkin_ws/src/sciurus17_ros/sciurus17_vision/config/chest_camera.yaml]
[ WARN] [1545895336.515155168]: Camera calibration file /home/rt-user/catkin_ws/src/sciurus17_ros/sciurus17_vision/config/chest_camera.yaml not found.
opening /dev/chestcamera
pixfmt 0 = 'YUYV' desc = 'YUYV 4:2:2'
  discrete: 640x480:   1/30 
  discrete: 160x120:   1/30 
  discrete: 176x144:   1/30 
  discrete: 320x240:   1/30 
  discrete: 352x288:   1/30 
  discrete: 800x600:   1/10 
  discrete: 1280x720:   1/8 
  discrete: 1920x1080:   1/5 
pixfmt 1 = 'MJPG' desc = 'Motion-JPEG'
  discrete: 640x480:   1/30 
  discrete: 160x120:   1/30 
  discrete: 176x144:   1/30 
  discrete: 320x240:   1/30 
  discrete: 352x288:   1/30 
  discrete: 800x600:   1/30 
  discrete: 1280x720:   1/30 
  discrete: 1920x1080:   1/30 
  int (Brightness, 0, id = 980900): -64 to 64 (1)
  int (Contrast, 0, id = 980901): 0 to 95 (1)
  int (Saturation, 0, id = 980902): 0 to 100 (1)
  int (Hue, 0, id = 980903): -2000 to 2000 (1)
  bool (White Balance Temperature, Auto, 0, id = 98090c): 0 to 1 (1)
  int (Gamma, 0, id = 980910): 100 to 300 (1)
  menu (Power Line Frequency, 0, id = 980918): 0 to 3 (1)
    0: Disabled
    1: 50 Hz
    2: 60 Hz
    3: Auto
  int (White Balance Temperature, 16, id = 98091a): 2800 to 6500 (10)
  int (Sharpness, 0, id = 98091b): 1 to 7 (1)
  int (Backlight Compensation, 0, id = 98091c): 0 to 1 (1)
  menu (Exposure, Auto, 0, id = 9a0901): 0 to 3 (1)
  int (Exposure (Absolute), 16, id = 9a0902): 50 to 10000 (1)
^C[chest_camera_node/image_proc-4] killing on exit

[nomumu]

本件は #17 の解決後に着手した方がよいと思います。

[nomumu]

launchファイルでパラメータにyamlを指定しているので、キャリブレーションファイルを作成することも検討した方がよいかもしれません。