Update auto exposure/whitebalance param names

Hardcoding them to match Stretch's cameras until ros-drivers#260 is resolved
hcrlab · Aug 29, 2023 · 5153146 · 5153146
1 parent 7115c62
commit 5153146
Showing 1 changed file with 8 additions and 22 deletions.
diff --git a/src/usb_cam_node.cpp b/src/usb_cam_node.cpp
@@ -280,39 +280,25 @@ void UsbCamNode::set_v4l2_params()
 
  // check auto white balance
  if (m_parameters.auto_white_balance) {
- m_camera->set_v4l_parameter("white_balance_temperature_auto", 1);
- RCLCPP_INFO(this->get_logger(), "Setting 'white_balance_temperature_auto' to %d", 1);
+ m_camera->set_v4l_parameter("white_balance_automatic", 1);
+ RCLCPP_INFO(this->get_logger(), "Setting 'white_balance_automatic' to %d", 1);
  } else {
  RCLCPP_INFO(this->get_logger(), "Setting 'white_balance' to %d", m_parameters.white_balance);
- m_camera->set_v4l_parameter("white_balance_temperature_auto", 0);
+ m_camera->set_v4l_parameter("white_balance_automatic", 0);
  m_camera->set_v4l_parameter("white_balance_temperature", m_parameters.white_balance);
  }
 
  // check auto exposure
  if (!m_parameters.autoexposure) {
- RCLCPP_INFO(this->get_logger(), "Setting 'exposure_auto' to %d", 1);
+ RCLCPP_INFO(this->get_logger(), "Setting 'auto_exposure' to %d", 1);
  RCLCPP_INFO(this->get_logger(), "Setting 'exposure' to %d", m_parameters.exposure);
  // turn down exposure control (from max of 3)
- m_camera->set_v4l_parameter("exposure_auto", 1);
+ m_camera->set_v4l_parameter("auto_exposure", 1);
  // change the exposure level
- m_camera->set_v4l_parameter("exposure_absolute", m_parameters.exposure);
+ m_camera->set_v4l_parameter("auto_exposure", m_parameters.exposure);
  } else {
- RCLCPP_INFO(this->get_logger(), "Setting 'exposure_auto' to %d", 3);
- m_camera->set_v4l_parameter("exposure_auto", 3);
- }
-
- // check auto focus
- if (m_parameters.autofocus) {
- m_camera->set_auto_focus(1);
- RCLCPP_INFO(this->get_logger(), "Setting 'focus_auto' to %d", 1);
- m_camera->set_v4l_parameter("focus_auto", 1);
- } else {
- RCLCPP_INFO(this->get_logger(), "Setting 'focus_auto' to %d", 0);
- m_camera->set_v4l_parameter("focus_auto", 0);
- if (m_parameters.focus >= 0) {
- RCLCPP_INFO(this->get_logger(), "Setting 'focus_absolute' to %d", m_parameters.focus);
- m_camera->set_v4l_parameter("focus_absolute", m_parameters.focus);
- }
+ RCLCPP_INFO(this->get_logger(), "Setting 'auto_exposure' to %d", 3);
+ m_camera->set_v4l_parameter("auto_exposure", 3);
  }
 }