Configuring the Sensor

Static Sensor Parameters

Static sensor parameters have to be set with a running roscore, but before the visensor_node is started. Thus, to reset these parameters, the roscore has to be restarted. Static sensor parameters can be set one of the following two ways:

• using the rosparam set commandline interface, e.g.

rosparam set /visensor_node/imuRate 100

• at startup of the ROS node with

rosrun visensor_node visensor_node _imuRate:=100

Setting these static parameters is optional. However the VI Sensor has to be selected by defining the sensorIp or sensorId parameter if more than one VI Sensor is in the same network.

Parameter Descriptions

parameter	description	default	min	max
imuRate	Sets the IMU measurement rate in Hz.	100	1	800
camRate	Sets the camera frame rate in Hz.	20	1	30
sensorIp	This defines the VI Sensor with which the ROS node connects (convenient if the sensor has a fixed IP).	autodiscovery	-	-
sensorId	This defines the VI Sensor with which the ROS node connects.	autodiscovery	-	-

Dynamic Sensor Parameters

The configuration of the VI Sensor ROS interface is done via the dynamic reconfigure interface. You can launch the gui via rosrun rqt_reconfigure rqt_reconfigure.

Parameter Descriptions

parameter	description
cam_agc_enable	Enables the camera internal automatic analog gain controller.
cam_max_analog_gain	Sets the upper limit for the automatic analog gain control range.
cam_global_analog_gain	If agc_enable is set to false this parameters sets the analog gain.
cam_global_analog_gain_attenuation	Sets physical gain to 0.75.
cam_aec_enable	Enables the camera internal auto exposure controller.
cam_min_coarse_shutter_width	Sets the lower limit for the automatic exposure control range. Multiply by (752+94) * 1.0e3 / 25.0e6 to obtain ms
cam_max_coarse_shutter_width	Sets the upper limit for the automatic exposure control range. Multiply by (752+94) * 1.0e3 / 25.0e6 to obtain ms
cam_coarse_shutter_width	If aec_enable is set to false, the fixed exposure time is set by this parameter. Multiply by (752+94) * 1.0e3 / 25.0e6 to obtain ms

Parameter Ranges

parameter	default	min	max
cam_agc_enable	1	0	1
cam_max_analog_gain	64	16	64
cam_global_analog_gain	16	16	64
cam_global_analog_gain_attenuation	0	0	1
cam_aec_enable	1	0	1
cam_min_coarse_shutter_width	2	2	32765
cam_max_coarse_shutter_width	100	2	32765
cam_coarse_shutter_width	480	2	32765