Improve auth support, add Q62 Series feature support (#75)

* Update the python files to be python-3 compliant. Fix some bugs in the image data parsing needed as part of this update * Revert "Remove README.rst; no point in maintaining 2 READMEs" This reverts commit fd18a57. * upgraded cmakelist and package.xml, and setup.py for noetic (#70) * Update changelog ahead of release * 0.4.0 * Fix the #! lines to use python3, decode the utf8 bytes into a string to suppress a warning when parsing the camera position * Update the changelog ahead of release * 0.4.1 * Explicitly use Python3 in shebang for teleop nodes; remove unnecessary shebang in setup.py (#72) * Update changelog ahead of release * 0.4.2 * Add frames-per-second (fps) as a configurable option * Reverting package change as it happens automatically * Update changelog ahead of release * 0.4.3 * Start adding support for the Q6215 IR mode and wiper * Fix a couple of copy/paste errors in the launch file, set the internal IR/wiper state * IR on/off is now working with the demo unit on my desk * Implement the wiper service. The wiper requires a fixed duration; it can't operate continuously. Run the wiper for 10s intervals * Add support for the Q6215's defogger. Ensure that wiper, defog, IR modes are all disabled on startup * Add a launch argument to expose the encrypted password option * Add a timeout to the axis-cgi calls, make sure the HTTP response is 200 (otherwise raise an exception) * Expand the readme with details on usage, supported devices, available topics & services * Small code cleanup, remove the default password. Add support for basic auth if the encrypted password flag isn't set * Add support for authentication to the PTZ node * Update the readme * Enable password encryption in view_axis.launch * Don't bother loading the custom calibration in the view_axis test launch * Add python3-requests as a dependendency * Fix the pan direction in the readme * Fix a bug where the PTZ brightness wasn't being reported correctly. Add support for the autoiris feature available on some cameras. Update the list of tested camera series. --------- Co-authored-by: jmastrangelo-cpr <[email protected]> Co-authored-by: Joey Yang <[email protected]> Co-authored-by: Jason Higgins <[email protected]> Co-authored-by: Tony Baltovski <[email protected]>
ros-drivers · Mar 17, 2023 · efa20df · efa20df
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diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -1,6 +1,39 @@
 Change history
 ==============
 
+0.4.3 (2022-08-22)
+------------------
+* Merge pull request `#73 <https://github.com/ros-drivers/axis_camera/issues/73>`_ from jhiggins-cpr/noetic-devel
+  Add frames-per-second (fps) as a configurable option
+* Reverting package change as it happens automatically
+* Add frames-per-second (fps) as a configurable option
+* Contributors: Jason Higgins, Tony Baltovski
+
+0.4.2 (2022-07-29)
+------------------
+* Explicitly use Python3 in shebang for teleop nodes; remove unnecessary shebang in setup.py (`#72 <https://github.com/ros-drivers/axis_camera/issues/72>`_)
+* Contributors: Joey Yang
+
+0.4.1 (2022-06-16)
+------------------
+* Fix the #! lines to use python3, decode the utf8 bytes into a string to suppress a warning when parsing the camera position
+* Contributors: Chris Iverach-Brereton
+
+0.4.0 (2021-11-29)
+------------------
+* upgraded cmakelist and package.xml, and setup.py for noetic (`#70 <https://github.com/ros-drivers/axis_camera/issues/70>`_)
+* Update the python files to be python-3 compliant.  Fix some bugs in the image data parsing needed as part of this update
+* Merge pull request `#55 <https://github.com/ros-drivers/axis_camera/issues/55>`_ from sgemme-csa/master
+  KeyError in publishCameraState when camera is not ready on PTZ camera
+* Merge branch 'master' of github.com:ros-drivers/axis_camera
+* Expose the height & width parameters as arguments in the launch file
+* Merge pull request `#56 <https://github.com/ros-drivers/axis_camera/issues/56>`_ from jeff-o/patch-1
+  Update axis.launch
+* Revert "Fix up the main scripts to be python-3 compliant"
+  This reverts commit 569e4b22415edee653914fa387a689d2e85e2879.
+* Fix up the main scripts to be python-3 compliant
+* Merge branch 'master' of github.com:ros-drivers/axis_camera
+
 0.3.2 (2021-05-21)
 ------------------
 * Improve support for the F34 and F44 multi-camera controllers by adding default values for the camera index (1-4). Change the camera arg in view_axis to camera_name, change its default IP address to better-match with the main axis.launch file
@@ -22,10 +55,11 @@ Change history
 * Remove the html_static directory from conf.py; it doesn't exist anyway and is just creating a warning that's causing Jenkins to see the build as unstable
 * Fix Python 3 syntax error
   `#52 <https://github.com/ros-drivers/axis_camera/issues/52>`_ again
+* Remove the :: leftover from the .rst
 * Copy the README contents to the .md so they show up on the github main page
 * Update the maintainer now that Clearpath is officially maintaining this package again
 * Merge pull request `#54 <https://github.com/ros-drivers/axis_camera/issues/54>`_ from k-okada/add_travis
-  update travis.yml
+* update travis.yml
 * add support for quad video
 * Update axis.launch
   Adds the "camera" param to the launch file. Helps launch the driver cleanly when used with other drivers that also use "camera" as a param name.
@@ -35,8 +69,9 @@ Change history
 * Merge remote-tracking branch 'github/master' into develop
 * Merge branch 'develop' of git+ssh://liberty/data/git/ros/axis_camera into develop
 * Fixing camera telemetry where accessing its telemetry before a certain time after startup would causes a KeyError because the fields in the response were not present. Now catching the KeyError exception to fix the problem.
+* Fixing camera telemetry where accessing its telemetr before a certain time after startup would cause a KeyError because the fiels in the response were not present, now catchin the KeyError exception to fix the problem
 * Fixing connection problem which was causing the telemetry to stall
-* Contributors: Chris I-B, Christian Clauss, Howell, Jeff Schmidt, Kei Okada, Sebastien Gemme, Tony Baltovski
+* Contributors: Chris I-B, Christian Clauss, Howell, Jeff Schmidt, Kei Okada, Sebastien Gemme, jmastrangelo-cpr
 
 0.3.0 (2018-05-25)
 ------------------

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(axis_camera)
 
 find_package(catkin REQUIRED
@@ -17,7 +17,7 @@ generate_dynamic_reconfigure_options(cfg/PTZ.cfg)
 
 catkin_package()
 
-install(PROGRAMS
+catkin_install_python(PROGRAMS
   nodes/axis.py
   nodes/axis_ptz.py
   nodes/publish_axis_tf.py

diff --git a/README.md b/README.md
@@ -21,3 +21,148 @@ There is no released code API.
 
 Each official release is tagged in the repository. The
 [change history](https://github.com/clearpathrobotics/axis_camera/blob/master/CHANGELOG.rst) describes every version.
+
+
+Supported Cameras
+------------------
+
+The following is a list of cameras that have been tested with this driver and are known to work.  Other cameras may
+also be usable, but have not been tested by the developers/maintainers of this package.
+
+If you have used this driver with a specific model of camera not listed below, please submit a PR so we can keep this
+list up-to-date.
+
+- [F Series](https://www.axis.com/products/axis-f-series)
+- [M30 Series](https://www.axis.com/products/axis-m30-series)
+- [P55 Series](https://www.axis.com/products/axis-p55-series)
+- [Q62 Series](https://www.axis.com/products/axis-q62-series)
+
+
+
+Camera Preparation
+-------------------
+
+Before using the ROS driver you should ensure your camera is properly connected to the PC and powered as-per the
+manufacturer's specifications.
+
+We recommend configuring the camera to use a static IP address on your robot's internal wired LAN, rather than DHCP.
+Because the driver addresses the camera by hostname or IP address it's easier if the address is constant.
+
+HTTP Authentication and Anonymous Control
+------------------------------------------
+
+By default most Axis cameras require HTTP authentication to view the camera data & to send PTZ (or other) commands.
+
+There are two solutions to this:
+
+1. Log into the camera's web GUI and enable `Anomymous Viewers` and `Anonymous PTZ Operators`. These options can usually
+   be found under settings > Users
+2. Configure the launch file to use a valid Axis user's username and password.  This is done with the `username` and
+   `password` arguments to `axis.launch`.  Some cameras require HTTP Digest authentication instead of basic
+   authentication.  If this is the case for your camera, make sure to also set the `encrypt_password` argument im
+   `axis.launch`.  (The Q62 series cameras are known to require digest authentication.)
+
+Usage Examples
+---------------
+
+Once the camera is configured, simply launch the driver:
+
+```bash
+roslaunch axis_camera axis.launch hostname:=192.168.0.90 username:=root password:=password
+```
+
+If your camera requires digest authentication instead of basic authentication, set the `encrypt_password` argument:
+
+```bash
+roslaunch axis_camera axis.launch hostname:=192.168.0.90 username:=root password:=password encrypted:=true
+```
+
+If your camera supports PTZ control, you can enable it with
+
+```bash
+roslaunch axis_camera axis.launch hostname:=192.168.0.90 username:=root password:=password enable_ptz:=true
+```
+
+In the case of the F Series cameras, multiple cameras can be connected to a single controller box.  In this case, launch
+the driver once for each physical camera, specifying the camera name & ID number.  The ID number corresponds to the
+physical port in the e.g. F34 controller (1-4).
+
+```bash
+roslaunch axis_camera axis.launch hostname:=192.168.0.90 username:=root password:=password camera_name:=front_camera camera:=1
+
+roslaunch axis_camera axis.launch hostname:=192.168.0.90 username:=root password:=password camera_name:=rear_camera camera:=2
+```
+
+The Q62 Series cameras also feature a night-vision mode (adds and IR illuminator and disables the IR filter), a lens
+wiper, and a defogger in addition to the normal PTZ control.  To enable all of this camera's supported features, use
+
+```bash
+roslaunch axis_camera axis.launch hostname:=192.168.0.90 username:=root password:=password encrypt_password:=true enable_ptz:=true enable_ir:=true enable_defog:=true enable_wiper:=true
+```
+
+Topics and Services
+--------------------
+
+The camera's main image data is published on `/camera_name/image_raw/compressed` as a `sensor_msgs/CompressedImage`.
+
+If the `enable_theora` argument is `true` then additional image topics are available in the `/camera_name/image_raw_out`
+namespace, including `/camera_name/image_raw_out/theora` as `theora_image_transport/Packet` messages.
+
+PTZ control (if enabled) uses the `axis_camera/Axis.msg` type:
+
+```
+float32 pan
+float32 tilt
+float32 zoom
+float32 focus
+float32 brightness
+float32 iris
+bool autofocus
+bool autoiris
+```
+
+To write to the camera, use
+
+```bash
+rostopic pub /camera_name/cmd axis_camera/Axis "{pan: 45.0, tilt: 20.0, zoom: 1000.0, focus: 0.0, brightness: 1.0, iris: 1.0, autofocus: true, autoiris: true}" -1
+```
+
+All writable camera properties are set simultaneously.  It is recommended to read the camera's current state from
+`/camera_name/state`, copy the `focus`, `autofocus`, `brightness`, and `iris` parameters, and then set the `pan`,
+`tilt` and `zoom` fields as desired.  Failure to set the `brightness` field may result in a very dark image.
+
+`pan` and `tilt` are expressed in degrees (for ease of use with Axis' REST API) with positive tilt being upwards and
+positive pan being clockwise.
+
+`zoom` is a value from 1 to 10000, with higher numbers indicating a narrower field of view.
+
+The Q62 Series' IR mode can be toggled by running
+
+```bash
+rosservice call /camera_name/set_ir_on "data: true"  # or "data: false"
+```
+
+When IR mode is on the IR illuminator will be turned on and the IR filter turned off.  The current state of the IR
+mode can be read from `/camera_name/ir_on` as a `std_msgs/Bool`.
+
+To enable the defogger, run
+
+```bash
+rosservice call /camera_name/set_defog_on "data: true"  # or "data: false"
+```
+
+The current state of the defogger can be read from `/camera_name/defog_on` as a `std_msgs/Bool`.
+
+To start the lens wiper, run
+
+```bash
+rosservice call /camera_name/set_wiper_on "data: true"
+```
+
+The wiper will run for 10s and stop automatically.  You can stop the wiper early by running
+
+```bash
+rosservice call /camera_name/set_wiper_on "data: false"
+```
+
+The current state of the wiper can be read from `/camera_name/wiper_on` as a `std_msgs/Bool`.
diff --git a/conf.py b/conf.py
@@ -44,8 +44,8 @@
 master_doc = 'index'
 
 # General information about the project.
-project = u'axis_camera'
-copyright = u'2012, Ryan Gariepy'
+project = 'axis_camera'
+copyright = '2012, Ryan Gariepy'
 
 # The version info for the project you're documenting, acts as replacement for
 # |version| and |release|, also used in various other places throughout the
@@ -187,8 +187,8 @@
 # Grouping the document tree into LaTeX files. List of tuples
 # (source start file, target name, title, author, documentclass [howto/manual]).
 latex_documents = [
-  ('index', 'axis_camera.tex', u'ROS Axis camera driver.',
-   u'Ryan Gariepy', 'manual'),
+  ('index', 'axis_camera.tex', 'ROS Axis camera driver.',
+   'Ryan Gariepy', 'manual'),
 ]
 
 # The name of an image file (relative to this directory) to place at the top of
@@ -217,8 +217,8 @@
 # One entry per manual page. List of tuples
 # (source start file, name, description, authors, manual section).
 man_pages = [
-    ('index', 'axis_camera', u'ROS Python Axis camera driver.',
-     [u'Ryan Gariepy'], 1)
+    ('index', 'axis_camera', 'ROS Python Axis camera driver.',
+     ['Ryan Gariepy'], 1)
 ]
 
 # If true, show URL addresses after external links.
@@ -231,8 +231,8 @@
 # (source start file, target name, title, author,
 #  dir menu entry, description, category)
 texinfo_documents = [
-  ('index', 'axis_camera', u'axis_camera Documentation',
-   u'Ryan Gariepy', 'axis_camera', 'ROS Axis camera driver.',
+  ('index', 'axis_camera', 'axis_camera Documentation',
+   'Ryan Gariepy', 'axis_camera', 'ROS Axis camera driver.',
    'Miscellaneous'),
 ]
 

diff --git a/launch/axis.launch b/launch/axis.launch
@@ -1,18 +1,33 @@
 <launch>
   <arg name="camera_name" default="axis" />
   <arg name="hostname" default="192.168.0.90" />
+  <arg name="username" default="root" />
+  <arg name="password" default="" />
+  <arg name="encrypt_password" default="false" />
+
   <arg name="enable_theora" default="0" />
   <arg name="enable_ptz" default="0" />
   <arg name="enable_ptz_teleop" default="0" />
+  <arg name="enable_defog" default="0" />
+  <arg name="enable_ir" default="0" />
+  <arg name="enable_wiper" default="0" />
   <arg name="width" default="640" />
   <arg name="height" default="480" />
   <arg name="camera" default="1" />
 
   <group ns="$(arg camera_name)">
     <param name="hostname" value="$(arg hostname)" />
+    <param name="username" value="$(arg username)" />
+    <param name="password" value="$(arg password)" />
+    <param name="use_encrypted_password" value="$(arg encrypt_password)" />
     <param name="width" value="$(arg width)" />
     <param name="height" value="$(arg height)" />
     <param name="camera" value="$(arg camera)" />
+    <param name="frame_id" value="$(arg camera_name)" />
+    <param name="wiper" value="$(arg enable_wiper)" />
+    <param name="defog" value="$(arg enable_defog)" />
+    <param name="ir" value="$(arg enable_ir)" />
+
     <node pkg="axis_camera" type="axis.py" name="axis" />
     <node pkg="axis_camera" type="axis_ptz.py" name="axis_ptz" if="$(arg enable_ptz)" />
 

diff --git a/msg/Axis.msg b/msg/Axis.msg
@@ -5,3 +5,4 @@ float32 focus
 float32 brightness
 float32 iris
 bool autofocus
+bool autoiris