TM EIH Camera Client

A ROS 2 package that bridges the TM Robot EIH camera gRPC API (TMflow ≥ 2.20) into ROS 2. It fetches images and camera parameters from the EIH camera, republishes them to ROS 2 topics, and allows runtime configuration via ROS 2 parameters.

For more details about the TM EIH camera API, you can refer to the document: EIH Camera API Function Manual

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Features

• Uses gRPC client to call the EIH camera API.
• Publishes:
  • /eih_camera/image_raw (sensor_msgs/msg/Image)
  • /eih_camera/image_raw/compressed (sensor_msgs/msg/CompressedImage)
  • /eih_camera/camera_info (sensor_msgs/msg/CameraInfo)
• Exposes camera parameters via ROS 2 parameters so you can change camera settings at runtime.

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Enabling EIH Camera API Server

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Requirements

• ROS 2 Humble
• gRPC
• OpenCV

A Dockerfile is provided as a reference for setting up the environment.

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Build

• Create a new workspace and clone the package:

  mkdir -p ~/tm_eih_ws/src
  
  cd ~/tm_eih_ws/src
  
  git clone https://github.com/TechmanRobotInc/tm_eih_cam_client.git

• You can build and run this package either directly on your host system or inside Docker for a consistent development environment.

Option 1: Native Build (on Host)

1. Ensure ROS 2 Humble, gRPC, and OpenCV are installed and sourced.

2. Build the workspace:

   cd ~/tm_eih_ws
   
   colcon build
   
   source install/setup.bash

Option 2: Docker Build (Recommended)

1. Define your image name:

   export IMAGE_NAME=tm_eih_cam_client

2. Build the Docker image:

   cd ~/tm_eih_ws/src/tm_eih_cam_client
   
   docker build -t $IMAGE_NAME .

3. Start a development container:

   docker run -it --rm -v $(pwd):/workspaces/src -w /workspaces $IMAGE_NAME /bin/bash

4. Inside the container:

   colcon build
   
   source install/setup.bash

Quickstart

• Start the node with your robot IP:

  ros2 launch tm_eih_cam_client eih_client_pub.launch.py robot_ip:=192.168.x.x

  You can set robot IP in eih_client_pub.launch.py file

• Configuration & Runtime Adjustment

  The config allows for parameter initialization, setting the EIH camera via the API.

  At runtime, you can use ros2 param to adjust camera parameters. For example, to adjust the focus:

  ros2 param set /eih_client_publisher focus 4