Changes include the addition of tolerance to network interruptions and the option of speed or position control for PTZ functions

.gitignore

@@ -1,10 +1,4 @@
-*.a
-*.o
-*.os
 *.pyc
-*.so
 *.tar.gz
 *~
 TAGS
-bin/
-build/

CHANGELOG.rst

@@ -0,0 +1,32 @@
+Change history
+==============
+
+0.1.0 (forthcoming)
+-------------------
+
+ * Groovy and Hydro release.
+ * Rename **compressed** topic **image_raw/compressed** (`#5`_).
+ * Convert to catkin (`#12`_).
+
+0.0.2 (2013-04-10)
+------------------
+
+ * Fuerte update.
+ * Add **frame_id** parameter (fixes `#8`_)
+ * Add camera_info_manager support (`#10`_). Adds a new dependency on
+   **camera_info_manager_py**, and a new **camera_info_url**
+   parameter.
+ * Add some additional PTZ control nodes: teleop.py, teleop_twist.py,
+   axis_twist.py, axis_all.py.
+ * Add PTZ transform publisher: publish_axis_tf.py.
+
+0.0.1 (2012-12-05)
+------------------
+
+ * Fuerte release.
+ * Initial axis_camera package.
+
+.. _`#5`: https://github.com/clearpathrobotics/axis_camera/issues/5
+.. _`#8`: https://github.com/clearpathrobotics/axis_camera/issues/8
+.. _`#10`: https://github.com/clearpathrobotics/axis_camera/issues/10
+.. _`#12`: https://github.com/clearpathrobotics/axis_camera/issues/12

CMakeLists.txt

@@ -1,31 +1,34 @@
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+cmake_minimum_required(VERSION 2.8.3)
+project(axis_camera)
 
-# Set the build type.  Options are:
-#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
-#  Debug          : w/ debug symbols, w/o optimization
-#  Release        : w/o debug symbols, w/ optimization
-#  RelWithDebInfo : w/ debug symbols, w/ optimization
-#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
-#set(ROS_BUILD_TYPE RelWithDebInfo)
+find_package(catkin REQUIRED
+  COMPONENTS
+  camera_info_manager_py
+  geometry_msgs
+  message_generation
+  rospy
+  sensor_msgs
+  tf
+)
+catkin_python_setup()
 
-rosbuild_init()
+# ROS message generation
+add_message_files(DIRECTORY msg FILES Axis.msg)
+generate_messages(DEPENDENCIES geometry_msgs std_msgs)
 
-#set the default path for built executables to the "bin" directory
-#set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-#set the default path for built libraries to the "lib" directory
-#set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+catkin_package(
+  CATKIN_DEPENDS
+  camera_info_manager_py
+  geometry_msgs
+  message_runtime
+  sensor_msgs
+  tf
+)
 
-#uncomment if you have defined messages
-rosbuild_genmsg()
-#uncomment if you have defined services
-#rosbuild_gensrv()
-
-#common commands for building c++ executables and libraries
-#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
-#target_link_libraries(${PROJECT_NAME} another_library)
-#rosbuild_add_boost_directories()
-#rosbuild_link_boost(${PROJECT_NAME} thread)
-#rosbuild_add_executable(example examples/example.cpp)
-#target_link_libraries(example ${PROJECT_NAME})
-rosbuild_make_distribution(0.0.2)
+install(PROGRAMS
+  nodes/axis.py
+  nodes/axis_ptz.py
+  nodes/publish_axis_tf.py
+  nodes/teleop.py
+  nodes/teleop_speed_control.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

README.rst

@@ -0,0 +1,26 @@
+Overview
+========
+
+This ROS_ package provides an `Axis network camera`_ driver, written
+in Python.
+
+ROS wiki documentation: `axis_camera`_.
+
+This driver is under active development.  Its ROS interfaces are
+relatively stable, but may still change.  
+
+There is no released code API.
+
+**Warning**::
+
+  The master branch normally contains code being tested for the next
+  ROS release.  It does not always work with previous ROS distributions.
+  Sometimes, it may not work at all.
+
+Each official release is tagged in the repository. The `change
+history`_ describes every version.
+
+.. _`Axis network camera`: http://www.axis.com/products/video/camera/index.htm
+.. _`change history`: https://github.com/clearpathrobotics/axis_camera/blob/master/CHANGELOG.rst
+.. _`axis_camera`: http://ros.org/wiki/axis_camera
+.. _ROS: http://ros.org

conf.py

@@ -0,0 +1,250 @@
+# -*- coding: utf-8 -*-
+#
+# axis_camera documentation build configuration file, created by
+# sphinx-quickstart on Wed Apr 25 16:01:20 2012.
+#
+# This file is execfile()d with the current directory set to its containing dir.
+#
+# Note that not all possible configuration values are present in this
+# autogenerated file.
+#
+# All configuration values have a default; values that are commented out
+# serve to show the default.
+
+import sys, os
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+
+#sys.path.insert(0, os.path.abspath('./src'))
+
+# -- General configuration -----------------------------------------------------
+
+# If your documentation needs a minimal Sphinx version, state it here.
+#needs_sphinx = '1.0'
+
+# Add any Sphinx extension module names here, as strings. They can be extensions
+# coming with Sphinx (named 'sphinx.ext.*') or your custom ones.
+extensions = ['sphinx.ext.autodoc', 'sphinx.ext.intersphinx', 'sphinx.ext.todo', 'sphinx.ext.viewcode']
+
+# List automatically-documented module members in source code order.
+autodoc_member_order = 'bysource'
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ['_templates']
+
+# The suffix of source filenames.
+source_suffix = '.rst'
+
+# The encoding of source files.
+#source_encoding = 'utf-8-sig'
+
+# The master toctree document.
+master_doc = 'index'
+
+# General information about the project.
+project = u'axis_camera'
+copyright = u'2012, Ryan Gariepy'
+
+# The version info for the project you're documenting, acts as replacement for
+# |version| and |release|, also used in various other places throughout the
+# built documents.
+#
+# The short X.Y version.
+version = '0.1'
+# The full version, including alpha/beta/rc tags.
+release = '0.1.0'
+
+# The language for content autogenerated by Sphinx. Refer to documentation
+# for a list of supported languages.
+#language = None
+
+# There are two options for replacing |today|: either, you set today to some
+# non-false value, then it is used:
+#today = ''
+# Else, today_fmt is used as the format for a strftime call.
+#today_fmt = '%B %d, %Y'
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+exclude_patterns = []
+
+# The reST default role (used for this markup: `text`) to use for all documents.
+#default_role = None
+
+# If true, '()' will be appended to :func: etc. cross-reference text.
+#add_function_parentheses = True
+
+# If true, the current module name will be prepended to all description
+# unit titles (such as .. function::).
+#add_module_names = True
+
+# If true, sectionauthor and moduleauthor directives will be shown in the
+# output. They are ignored by default.
+#show_authors = False
+
+# The name of the Pygments (syntax highlighting) style to use.
+pygments_style = 'sphinx'
+
+# A list of ignored prefixes for module index sorting.
+#modindex_common_prefix = []
+
+
+# -- Options for HTML output ---------------------------------------------------
+
+# The theme to use for HTML and HTML Help pages.  See the documentation for
+# a list of builtin themes.
+html_theme = 'default'
+
+# Theme options are theme-specific and customize the look and feel of a theme
+# further.  For a list of options available for each theme, see the
+# documentation.
+#html_theme_options = {}
+
+# Add any paths that contain custom themes here, relative to this directory.
+#html_theme_path = []
+
+# The name for this set of Sphinx documents.  If None, it defaults to
+# "<project> v<release> documentation".
+#html_title = None
+
+# A shorter title for the navigation bar.  Default is the same as html_title.
+#html_short_title = None
+
+# The name of an image file (relative to this directory) to place at the top
+# of the sidebar.
+#html_logo = None
+
+# The name of an image file (within the static path) to use as favicon of the
+# docs.  This file should be a Windows icon file (.ico) being 16x16 or 32x32
+# pixels large.
+#html_favicon = None
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+html_static_path = ['_static']
+
+# If not '', a 'Last updated on:' timestamp is inserted at every page bottom,
+# using the given strftime format.
+#html_last_updated_fmt = '%b %d, %Y'
+
+# If true, SmartyPants will be used to convert quotes and dashes to
+# typographically correct entities.
+#html_use_smartypants = True
+
+# Custom sidebar templates, maps document names to template names.
+#html_sidebars = {}
+
+# Additional templates that should be rendered to pages, maps page names to
+# template names.
+#html_additional_pages = {}
+
+# If false, no module index is generated.
+#html_domain_indices = True
+
+# If false, no index is generated.
+#html_use_index = True
+
+# If true, the index is split into individual pages for each letter.
+#html_split_index = False
+
+# If true, links to the reST sources are added to the pages.
+#html_show_sourcelink = True
+
+# If true, "Created using Sphinx" is shown in the HTML footer. Default is True.
+#html_show_sphinx = True
+
+# If true, "(C) Copyright ..." is shown in the HTML footer. Default is True.
+#html_show_copyright = True
+
+# If true, an OpenSearch description file will be output, and all pages will
+# contain a <link> tag referring to it.  The value of this option must be the
+# base URL from which the finished HTML is served.
+#html_use_opensearch = ''
+
+# This is the file name suffix for HTML files (e.g. ".xhtml").
+#html_file_suffix = None
+
+# Output file base name for HTML help builder.
+htmlhelp_basename = 'axis_camera_doc'
+
+
+# -- Options for LaTeX output --------------------------------------------------
+
+latex_elements = {
+# The paper size ('letterpaper' or 'a4paper').
+#'papersize': 'letterpaper',
+
+# The font size ('10pt', '11pt' or '12pt').
+#'pointsize': '10pt',
+
+# Additional stuff for the LaTeX preamble.
+#'preamble': '',
+}
+
+# Grouping the document tree into LaTeX files. List of tuples
+# (source start file, target name, title, author, documentclass [howto/manual]).
+latex_documents = [
+  ('index', 'axis_camera.tex', u'ROS Axis camera driver.',
+   u'Ryan Gariepy', 'manual'),
+]
+
+# The name of an image file (relative to this directory) to place at the top of
+# the title page.
+#latex_logo = None
+
+# For "manual" documents, if this is true, then toplevel headings are parts,
+# not chapters.
+#latex_use_parts = False
+
+# If true, show page references after internal links.
+#latex_show_pagerefs = False
+
+# If true, show URL addresses after external links.
+#latex_show_urls = False
+
+# Documents to append as an appendix to all manuals.
+#latex_appendices = []
+
+# If false, no module index is generated.
+#latex_domain_indices = True
+
+
+# -- Options for manual page output --------------------------------------------
+
+# One entry per manual page. List of tuples
+# (source start file, name, description, authors, manual section).
+man_pages = [
+    ('index', 'axis_camera', u'ROS Python Axis camera driver.',
+     [u'Ryan Gariepy'], 1)
+]
+
+# If true, show URL addresses after external links.
+#man_show_urls = False
+
+
+# -- Options for Texinfo output ------------------------------------------------
+
+# Grouping the document tree into Texinfo files. List of tuples
+# (source start file, target name, title, author,
+#  dir menu entry, description, category)
+texinfo_documents = [
+  ('index', 'axis_camera', u'axis_camera Documentation',
+   u'Ryan Gariepy', 'axis_camera', 'ROS Axis camera driver.',
+   'Miscellaneous'),
+]
+
+# Documents to append as an appendix to all manuals.
+#texinfo_appendices = []
+
+# If false, no module index is generated.
+#texinfo_domain_indices = True
+
+# How to display URL addresses: 'footnote', 'no', or 'inline'.
+#texinfo_show_urls = 'footnote'
+
+
+# Example configuration for intersphinx: refer to the Python standard library.
+intersphinx_mapping = {'http://docs.python.org/': None}