How can I use the camera on the Cobotta in ROS?

[Koetzi]

Hello,

I am currently in the process of controlling the Cobotta with ROS.

Now we had the idea to use the camera (N10-W02) as a trigger signal (e.g. via OpenCV) to execute a certain task. I can access the web interface. All attempts to reach a possibly existing stream or to take a picture with the camera failed in Ubuntu.

However, using Windows programs from Denso, the camera image can be reached via the corresponding IP address. So it must work somehow, even if the Canon manual says that it is a proprietary transmission protocol.

If it doesn't work at all, is there any other way to use the camera in ROS somehow? Possibly via EVP?

Thanks a lot!

[DensoWaveRobot]

@Koetzi
Which way did you use the camera(N10-W02)?

1. Using ROS bCapService
2. Using Python3 BcapClient https://github.com/ShoheiKobata/orin_bcap_python_samples/tree/master/SimpleSamples
   bCapService has a problem with N10-W02 communication, so could you please use the BcapClient?
   I'm sorry for your inconvenient.

Ros Melodic and Kinetic are supposed to be run with Python2, but BcapClient is written by Python3.
I send you sample code of camera control and BcapClient modified to move on Python3.
You can access to the camera using rosservice.
Please do the following.

1. Download sample code and execute catkin_make to build canon_camera package.
2. Launch roscore.
3. Launch camera_ctrl_server.py. Then camera service server is started.
4. Execute command below in another console.
   $ rosservice call /canon_camera "{}"
   GetImage function is called and you can get the data of camera image.

sample_pack.zip