added blackfly GigE configuration file

spinnaker_camera_driver/config/blackfly.yaml

@@ -0,0 +1,150 @@
+#
+# config file for blackfly cameras (GigE)
+#
+# This file maps the ros parameters to the corresponding Spinnaker "nodes" in the camera.
+# For more details on how to modify this file, see the README on camera configuration files.
+
+parameters:
+  #
+  # -------- image format control
+  #
+  - name: pixel_format
+    type: enum
+    # Check available values with SpinView. Not all are supported by ROS!
+    # Some formats are e.g. "Mono8", "BayerRG8", "BayerRG16", "YUV444Packed"
+    # default is "BayerRG8"
+    node: ImageFormatControl/PixelFormat
+  - name: image_width
+    type: int
+    node: ImageFormatControl/Width
+  - name: image_height
+    type: int
+    node: ImageFormatControl/Height
+  - name: offset_x # offset must come after image width reduction!
+    type: int
+    node: ImageFormatControl/OffsetX
+  - name: offset_y
+    type: int
+    node: ImageFormatControl/OffsetY
+  - name: video_mode
+    type: enum
+    # allowed video modes: Mode0, Mode4, Mode5, Mode7
+    node: VideoMode
+  - name: binning_x
+    type: int
+    # can only set binning in some video modes, e.g. Mode4
+    node: ImageFormatControl/BinningHorizontal
+  - name: binning_y
+    type: int
+    # can only set binning in some video modes, e.g. Mode4
+    node: ImageFormatControl/BinningVertical
+
+  #
+  # -------- analog control
+  #
+  - name: gain_auto
+    type: enum
+    # valid values are "Continuous", "Off"
+    node: AnalogControl/GainAuto
+  - name: gain
+    type: float
+    node: AnalogControl/Gain
+  #
+  # -------- device link throughput limiting
+  #
+  - name: device_link_throughput_limit
+    type: int
+    node: DeviceControl/DeviceLinkThroughputLimit
+  #
+  # -------- transport layer control (GigE)
+  #
+  - name: gev_scps_packet_size
+    type: int
+    # default is 1400. Set to 9000 to enable jumbo frames, ensure NIC MTU set >= 9000
+    node: TransportLayerControl/GevSCPSPacketSize
+  #
+  # -------- digital IO control
+  #
+  - name: line0_selector
+    type: enum  # valid value: Line0
+    node: DigitalIOControl/LineSelector
+  - name: line1_selector # white wire: opto-isolated output
+    type: enum  # valid value: Line1
+    node: DigitalIOControl/LineSelector
+  - name: line1_source # valid values: "ExposureActive", "ExternalTriggerActive", "UserOutput1"
+    type: enum
+    node: DigitalIOControl/LineMode
+  #
+  # -------- acquisition control
+  #
+  - name: exposure_auto
+    type: enum
+    # valid values are "Off", "Continuous"
+    node: AcquisitionControl/ExposureAuto
+  - name: exposure_time
+    type: float
+    node: AcquisitionControl/ExposureTime
+  - name: trigger_mode
+    type: enum
+    # valid values are "On" and "Off"
+    node: AcquisitionControl/TriggerMode
+  - name: trigger_source
+    type: enum
+    # valid values are "Line0"
+    node: AcquisitionControl/TriggerSource
+  - name: trigger_selector
+    type: enum
+    # valid values are e.g. "FrameStart", "AcquisitionStart", "FrameBurstStart"
+    node: AcquisitionControl/TriggerSelector
+  - name: trigger_delay
+    # value >= 9
+    type: float
+    node: AcquisitionControl/TriggerDelay
+  - name: trigger_overlap
+    type: enum
+    # valid values: "Off" and "ReadOut"
+    node: AcquisitionControl/TriggerOverlap
+  - name: trigger_activation
+    type: enum
+    # valid values: "LevelLow", "LevelHigh", "FallingEdge", "RisingEdge", "AnyEdge",
+    node: AcquisitionControl/TriggerActivation
+  - name: frame_rate_enable  # must come after trigger_mode
+    type: bool
+    node: AcquisitionControl/AcquisitionFrameRateEnable
+  - name: frame_rate
+    type: float
+    node: AcquisitionControl/AcquisitionFrameRate
+  #
+  # --------- chunk control
+  #
+  - name: chunk_mode_active
+    type: bool
+    node: ChunkDataControl/ChunkModeActive
+  - name: chunk_selector_frame_counter
+    type: enum
+    # valid values: "FrameCounter"
+    node: ChunkDataControl/ChunkSelector
+  - name: chunk_enable_frame_id
+    type: bool
+    node: ChunkDataControl/ChunkEnable
+  - name: chunk_selector_exposure_time
+    type: enum
+    # valid values: "ExposureTime"
+    node: ChunkDataControl/ChunkSelector
+  - name: chunk_enable_exposure_time
+    type: bool
+    node: ChunkDataControl/ChunkEnable
+  - name: chunk_selector_gain
+    type: enum
+    # valid values: "Gain"
+    node: ChunkDataControl/ChunkSelector
+  - name: chunk_enable_gain
+    type: bool
+    node: ChunkDataControl/ChunkEnable
+  - name: chunk_selector_timestamp
+    type: enum
+    # valid values: "Timestamp"
+    node: ChunkDataControl/ChunkSelector
+  - name: chunk_enable_timestamp
+    type: bool
+    node: ChunkDataControl/ChunkEnable