Installation of the Robot Head - NEW

Connecting cameras

On the PC, which cameras are connected to, do this:
  • lsusb
  • find Nikon cameras
  • for found ports: lsusb -D /dev/bus/usb/002/005
  • find iSerial value for each camera
  • Add rules to Clopema udev rules file (or create it):

/etc/udev/rules.d/10-clopema.rules

# Nikons
SUBSYSTEM=="usb", ATTRS{idVendor}=="04b0", ATTRS{idProduct}=="0429", ATTR{serial}=="000006623780", GROUP="plugdev", MODE="0660", SYMLINK="nikon_left" 
SUBSYSTEM=="usb", ATTRS{idVendor}=="04b0", ATTRS{idProduct}=="0429", ATTR{serial}=="000006372504", GROUP="plugdev", MODE="0660", SYMLINK="nikon_right" 
  • Then (maybe after restart) you should be able after readlink /dev/nikon_left get this output: /dev/usb/xxx/yyy (and the same for right camera, of course)

These symbolic adresses are then used as ROS parameters in clopema_config.launch

    <param name="/left_camera_device" value="/dev/nikon_left"/>.
    <param name="/right_camera_device" value="/dev/nikon_right"/>