merged the changes for external trigger in dev branch

Author: Shreekant

.gitignore

@@ -2,6 +2,8 @@ $ cat .gitignore
 *.[oa]
 *~
 
+include/spinnaker_sdk_camera_driver/spinnaker_configure.h
+
 # no .a files
 #*.a
 

CMakeLists.txt

@@ -20,6 +20,7 @@ find_package(catkin REQUIRED COMPONENTS
   sensor_msgs
   dynamic_reconfigure
   nodelet
+  trigger_msgs
 )
 
 #find_package(PCL REQUIRED)
@@ -49,6 +50,13 @@ elseif(NOT Boost_FOUND)
   message("Boost not found!")
 endif()
 
+# configure a header file to pass some of the CMake settings
+# to the source code
+configure_file (
+  "${PROJECT_SOURCE_DIR}/include/spinnaker_sdk_camera_driver/spinnaker_configure.h.in"
+  "${PROJECT_SOURCE_DIR}/include/spinnaker_sdk_camera_driver/spinnaker_configure.h"
+)
+
 add_message_files(
   FILES
   SpinnakerImageNames.msg

README.md

@@ -88,7 +88,7 @@ All the parameters can be set via the launch file or via the yaml config_file.
   Should color images be used (only works on models that support color images)
 * ~exposure_time (int, default: 0, 0:auto)  
   Exposure setting for cameras, also available as dynamic reconfiguarble parameter.
-  * ~external_trigger (bool, default: false)  
+* ~external_trigger (bool, default: false)  
   Camera triggering setting when using an external trigger.  In this mode, none of the cameras would be set as a master camera. All cameras are setup to use external trigger.  In this mode the main loop runs at rate set by soft_framerate, so if the external trigger rate is higher than the soft_framerate, the buffer will get filled and images will have a lag. Also in this mode, the getnextimage timeout is set to infinite so that the node dosen't die if a trigger is not received for a while.
 * ~target_grey_value (double, default: 0 , 0:Continous/auto)
   Setting target_grey_value > 4 (min:4 , max:99) will turn AutoExposureTargetGreyValueAuto to 'off' and set AutoExposureTargetGreyValue to target_grey_value. Also available as dynamic reconfigurable parameter. see below in Dynamic reconfigurable parameter section.

cfg/debug_console.conf

@@ -1,5 +1,5 @@
 # Set the default ros output to warning and higher
 log4j.logger.ros=INFO
-log4j.logger.ros.datacollection_neu=DEBUG
+log4j.logger.ros.spinnaker_sdk_camera_driver=DEBUG
 
 

include/spinnaker_sdk_camera_driver/capture.h

@@ -4,7 +4,7 @@
 #include "std_include.h"
 #include "serialization.h"
 #include "camera.h"
-
+#include "spinnaker_configure.h"
 #include <boost/archive/binary_oarchive.hpp>
 #include <boost/filesystem.hpp>
 //ROS
@@ -23,6 +23,10 @@
 #include <nodelet/loader.h>
 #include "pluginlib/class_list_macros.h"
 
+#ifdef trigger_msgs_FOUND
+  #include <trigger_msgs/sync_trigger.h>
+#endif 
+
 using namespace Spinnaker;
 using namespace Spinnaker::GenApi;
 using namespace Spinnaker::GenICam;
@@ -38,7 +42,7 @@ namespace acquisition {
         ~Capture();
         Capture();
         virtual void onInit();
-
+        
         std::shared_ptr<boost::thread> pubThread_;
 
         void load_cameras();
@@ -73,7 +77,7 @@ namespace acquisition {
         void update_grid();
         void export_to_ROS();
         void dynamicReconfigureCallback(spinnaker_sdk_camera_driver::spinnaker_camConfig &config, uint32_t level);
-
+       
         float mem_usage();
 
         SystemPtr system_;    
@@ -112,6 +116,7 @@ namespace acquisition {
         string ext_;
         float exposure_time_;
         double target_grey_value_;
+        bool first_image_received;
         // int decimation_;
         string tf_prefix_;        
         int soft_framerate_; // Software (ROS) frame rate
@@ -139,6 +144,21 @@ namespace acquisition {
         bool VERIFY_BINNING_;
         uint64_t SPINNAKER_GET_NEXT_IMAGE_TIMEOUT_;
 
+        #ifdef trigger_msgs_FOUND
+            ros::Time latest_imu_trigger_time_;
+            uint32_t prev_imu_trigger_count_ = 0; 
+            uint32_t latest_imu_trigger_count_;
+
+            void assignTimeStampCallback(const trigger_msgs::sync_trigger::ConstPtr& msg);
+            struct SyncInfo_{
+                uint32_t latest_imu_trigger_count_;
+                ros::Time latest_imu_trigger_time_;
+            };
+            std::vector<std::queue<SyncInfo_>> sync_message_queue_vector_;
+            ros::Subscriber timeStamp_sub;
+        #endif
+        
+        
         bool region_of_interest_set_;
         int region_of_interest_width_;
         int region_of_interest_height_;

include/spinnaker_sdk_camera_driver/spinnaker_configure.h.in

@@ -0,0 +1 @@
+#cmakedefine trigger_msgs_FOUND