z1_pro_driver

ROS2 driver for the XF Z-1 Pro 3-axis gimbal camera.

This repo contains two packages: z1_pro_driver, where all the source code for controlling the camera and it's gimbal live, and z1_pro_msgs where we have defined a couple of messages for smooth operation of the system.

To run:

ros2 launch z1_pro_driver z1_pro_driver_launch.py \
        robot_name:=$ROBOT_NAME \
        camera_ip:=$GIMBAL_IP \
        camera_port:=$GIMBAL_PORT \
        camera_below_base:=True"

This lanuches:

• read_and_publish: Low level script that reads the raw packets from the camera and pubs them nicely into ROS
• gimbal_joint_publisher + robot_state_publisher: Gets you the TF tree of the camera.
• global_gimbal_pose_pub: Publishes the orientation of just the camera head as measured by the IMU/Gyro inside it. TF's are named like ../global_X.
• You can publish a Vector3 into gimbal_camera/gimbal_cmd to move the gimbal around in RPY. Roll and Pitch are relative to gravity and Yaw is relative to the base of the camera.
• You can echo gimbal_camera/gimbal_gcu_fb to see the raw values coming form the cam.
• Set camera_below_base to true if the camera module is below the base (like a drone) at runtime. The gimbal reports it's pose differently depending on its starting orientation, so this is required.

ros2 launch z1_pro_driver z1_pro_action_launch.py \
        robot_name:=$ROBOT_NAME \
        use_sim_time:=$USE_SIM_TIME"        

• This launches the action servers that allow setting angles, tracking etc.

The dimensions for the urdf are shown in the drawings under the fig directory.