Hello,
I have used POINT GREY FIREFLY MV FMVU-13S2C digital camera to work on Ubuntu 10.04 and ros electric(I am gonna call it VM1) and it worked very well. But when I install another virtual machine (Ubuntu 10.4 and ros electric also)(I am gonna call it VM2), the camera cannot be found.
I remember the steps that I got the camera worked in VM1 are:
1. install camera drivers by "sudo apt-get install ros-electric-camera-drivers"
2. Create an udev rule for usb adapter to recognize Grey Firefly MV USB camera by "sudo gedit /etc/udev/rules.d/40-pgr.rules" and add the following text into it.
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ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="2000", MODE="0664", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="2001", MODE="0664", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="2002", MODE="0664", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="2003", MODE="0664", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="2004", MODE="0664", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="2005", MODE="0664", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="3000", MODE="0664", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="3001", MODE="0664", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="3002", MODE="0664", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="3003", MODE="0664", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="3004", MODE="0664", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="3005", MODE="0664", GROUP="pgrimaging"
KERNEL=="raw1394", MODE="0664", GROUP="pgrimaging"
KERNEL=="video1394*", MODE="0664", GROUP="pgrimaging"
SUBSYSTEM=="firewire", GROUP="pgrimaging"
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3. then I follow
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Install the modules
modprobe ohci1394
modprobe video1394
modprobe ieee1394
modprobe raw1394
Create proper 1394 devices
cd /dev
mknod raw1394 c 171 0
chmod 666 /dev/raw1394
mkdir video1394
cd video1394
mknod 0 c 171 16
mknod 1 c 171 17
chmod 666 /dev/video1394/*
Set user paths
su user
Check for the LD_LIBRARY_PATH. It should contain /usr/local/lib. This is necessary to run the applications with the help of the shared libdc1394_cotrol.so.13 object file.
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I applied exactly same steps to VM2. however, when I run "rosrun camera1394 camera1394_node", camera cannot be found.
Following are some outputs of VM1 and VM2 for your information.
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terminal: lsusb -t
output:
VM1:
1-1:1.0: No such file or directory
/: Bus 02.Port 1: Dev 1, Class=root_hub, Driver=uhci_hcd/2p, 12M
|__ Port 1: Dev 2, If 0, Class=HID, Driver=usbhid, 12M
|__ Port 1: Dev 2, If 1, Class=HID, Driver=usbhid, 12M
|__ Port 2: Dev 3, If 0, Class=hub, Driver=hub/7p, 12M
|__ Port 1: Dev 4, If 0, Class='bInterfaceClass 0xe0 not yet handled', Driver=btusb, 12M
|__ Port 1: Dev 4, If 1, Class='bInterfaceClass 0xe0 not yet handled', Driver=btusb, 12M
/: Bus 01.Port 1: Dev 1, Class=root_hub, Driver=ehci_hcd/6p, 480M
|__ Port 1: Dev 6, If 0, Class=vend., Driver=, 480M
|__ Port 2: Dev 3, If 0, Class='bInterfaceClass 0x0e not yet handled', Driver=uvcvideo, 480M
|__ Port 2: Dev 3, If 1, Class='bInterfaceClass 0x0e not yet handled', Driver=uvcvideo, 480M
VM2:
1-1:1.0: No such file or directory
/: Bus 02.Port 1: Dev 1, Class=root_hub, Driver=uhci_hcd/2p, 12M
|__ Port 1: Dev 2, If 0, Class=HID, Driver=usbhid, 12M
|__ Port 1: Dev 2, If 1, Class=HID, Driver=usbhid, 12M
/: Bus 01.Port 1: Dev 1, Class=root_hub, Driver=ehci_hcd/6p, 480M
|__ Port 1: Dev 2, If 0, Class=vend., Driver=, 480M
terminal: lsusb -t
output:
VM1:
[ INFO] [1357709573.310787186]: using default calibration URL
[ INFO] [1357709573.311007203]: camera calibration URL: file:///home/adrian/.ros/camera_info/camera.yaml
[ERROR] [1357709573.311112231]: Unable to open camera calibration file [/home/adrian/.ros/camera_info/camera.yaml]
[ WARN] [1357709573.311166747]: Camera calibration file /home/adrian/.ros/camera_info/camera.yaml not found.
[ INFO] [1357709574.475900934]: Found camera with GUID b09d0100b9be53
[ INFO] [1357709574.477526842]: No guid specified, using first camera found, GUID: b09d0100b9be53
[ INFO] [1357709574.478384785]: camera model: Point Grey Research Firefly MV FMVU-13S2C
[ INFO] [1357709574.550290168]: using default calibration URL
[ INFO] [1357709574.550557966]: camera calibration URL: file:///home/adrian/.ros/camera_info/00b09d0100b9be53.yaml
[ERROR] [1357709574.550677966]: Unable to open camera calibration file [/home/adrian/.ros/camera_info/00b09d0100b9be53.yaml]
[ WARN] [1357709574.550758075]: Camera calibration file /home/adrian/.ros/camera_info/00b09d0100b9be53.yaml not found.
[ INFO] [1357709574.550884432]: [00b09d0100b9be53] opened: 640x480_mono8, 15 fps, 400 Mb/s
[ WARN] [1357709574.943336025]: [00b09d0100b9be53] calibration does not match video mode (publishing uncalibrated data)
VM2:
[ INFO] [1357710156.728287585]: using default calibration URL
[ INFO] [1357710156.728460643]: camera calibration URL: file:///home/adrian/.ros/camera_info/camera.yaml
[ERROR] [1357710156.728573663]: Unable to open camera calibration file [/home/adrian/.ros/camera_info/camera.yaml]
[ WARN] [1357710156.728643520]: Camera calibration file /home/adrian/.ros/camera_info/camera.yaml not found.
[ WARN] [1357710156.871831618]: [camera] exception opening device (retrying): [Camera1394::open]: No cameras found
[ WARN] [1357710156.872580874]: [camera] exception opening device (retrying): [Camera1394::open]: No cameras found
[ERROR] [1357710156.873013311]: [camera] device open failed: [Camera1394::open]: No cameras found
Thanks in advance!!!
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