Please install ROS Noetic, ths last ROS1 release.
Support for ROS1 in Windows is considered experimental, with not all packages supported. This driver requires the use of an Ubuntu 20 operating system for tested support.
By default ROS Noetic will use Python 3.8.10. The current Cuvis library requires Python >= 3.9.1. Install this version using a virtual environment or alternate Python distribution using these instructions.
N.B., you will need to install both python3.9 and python3.9-dev to build the cuvis.pyil library.
Install the latest version of Wine: https://wiki.winehq.org/Ubuntu
Using the included flash drive with your camera. Navigate to the Cubert Utilities Installer, right click and select Open with Wine Windows Program Loader.
Accept license, and click through installer. Select the license file included on the USB.
The cuvis.ros repo contains an empty folder named cuvis_factory. When prompted, select this folder for the factory installation. This place two files, init.daq and SpRad.cu3 in the folder.
The .exe camera installer will not automatically change your network settings, as it executes PowerShell scripts in the background, which are not compatible with Linux.
However, the installer creates two temporary files: setIP.ps1 and setJumboFrames.ps1.`
Each provides guidance on how to configure the camera network settings. Cubert cameras use different IP addresses based on the model. It is important to check these files for the IP address.
Before proceeding, make sure the camera is plugged in, and connected to your computer via an appropriate ethernet connection.
In Ubuntu, open Settings -> Network -> Wired. At this point the wired network should show its status as "connecting".
Click the IPv4 tab, and change the IPv4 method to "Manual". Referencing the values found in setIP.ps1, change the following values:
- DNS: e.g. 10.10.10.100
- Netmask: e.g. 255.255.255.0
- Gateway: e.g. 10.10.10.1
- Address: This should be an address falling within the net masked address space, and not the same value as the gateway or DNS, e.g. 10.10.10.10
Click apply wait for the connect to show as connected. If this step fails, try unplugging and replugging the camera.
Hyperspectral data is big data, especially from video rate hyperspectral cameras. To enable better network performance, especially with high-megapixel Ultris models, we will enable a networking configuration named jumbo frames.
To begin, we will need the name of the network interface. In a new terminal, run ip -c a. Find the listed entry that has the inet matching the address from the previous step. The text following the number is the plaintext network name.
Open the file ./utils/jumbo.sh and change the value for interface_name to the name of your network adapter. You may also change the size of the packed size, although 9000 appears to be sufficient Run the following commands:
sudo cp ./utils/jumbo.sh /etc/init.d/jumbo.sh
sudo chmod 775 /etc/init.d/jumbo.sh
sudo update-rc.d jumbo.sh defaults
Reboot your computer and run ip link show | grep mtu to confirm the mtu value is correctly set to 9000.
git clone git@github.com:cubert-hyperspectral/cuvis.pyil.git
cd cuvis.pyil
cmake .
cmake --build . --target cuvis_pyil --config Release # This step may take a considerable amount of time unless you turn off Doxygen generation
Move the built libraries to the set locations
python3.9 -m pip install .
cp _cuvis_pyil.so <<PYTHON_LIB_LOCATION>>/lib/python3.9/site-packages/cuvis_il/
cp cuvis_il.py <<PYTHON_LIB_LOCATION>>/lib/python3.9/site-packages/cuvis_il/
Install the Python bindings
git clone git@github.com:cubert-hyperspectral/cuvis.python.git
cd cuvis.python
python3.9 -m pip install .
cd cuvis.ros && catkin build
catkin_build is prefered over catkin_make, but both should work.
source devel/setup.bash to add the new packages to the search path.
This step assumes there is already another ROS core instance running elsewhere.
rosrun cuvis_ros ros_interface.py
This is the file that should be edited to pass non-default arguments
roslaunch cuvis_ros hyper_driver.launch
This section contains additional development goals which will be pursued as time allows.
- C++ driver implementation
- Integration with Hyper-Drive common HSI ROS library
- Add reflectance/radiance calibration measurement
- Handle loop interrupts with grace
- ROS2 support