Hikrobot RGB Camera

Model Number: MV-CE060-10UC

Product page: https://www.hikrobotics.com/en/machinevision/productdetail/?id=7686

Spec sheet: https://www.maxxvision.com/downloads/Cameras/USB30/Hikrobot/Hikrobot_MV-CE060-10UMUC.pdf

ROS2 driver: https://github.com/FraunhoferIOSB/camera_aravis2

Camera tools

Aravis tools can be used to display the camera feed to a desktop GUI application. You may need to enable settings such as auto-exposure or remove the lens cap to get an actual picture from the camera. The focus of the camera lens can be physically adjusted as well.

sudo apt install aravis-tools
sudo apt install aravis-tools-cli
arv-viewer-0.8

Debugging

If you run into permission issues or your camera is not appearing in arv-viewer even though it is plugged in, you may need to change the USB device permissions.

The following tutorial can help solve this issue: https://www.xmodulo.com/change-usb-device-permission-linux.html

Some commands that may help with this:

sudo lshw
sudo lsusb -vvv
sudo gedit /etc/udev/rules.d/50-camusb.rules

ROS2 Driver

ROS2 driver: https://github.com/FraunhoferIOSB/camera_aravis2

Installation instructions for camera_aravis2 can be found in the readme, as well as example launch and config files.

ros2 launch hik_camera_driver.py

ROS2 Image sensor_msg header data excerpt:

header:
  frame_id: camera_uv_vis
height: 2048
width: 3072
encoding: bayer_rggb8
is_bigendian: 0
step: 3072

---