I am working with the p2os_driver on a seekur_jr robot. (ROS-GROOVY, UBUNTU 12.04)
I have successfully moved the robot with the teleop_keyboard launch. (using serial port ttyS0)
But I haven't found a way to pan,tilt and zoom the PTZ camera using p2os_driver.
I've a node written by myself which publishes a PTZState msg on /ptz_control topic.
When I publish a msg on /ptz_control, the /ptz_state topic changes its values either, but the camera does not move.
Maybe the commands I am sending to /ptz_control are not being effective because the ptz port configuration is wrong.
The PTZ camera is a rvision connected to the COM4 (ttyS3) serial port.
**I would like to know what is the port the p2os_driver expects the ptz camera to be connected, and also how I could change this parameter.**
I've checked the p2os_ptz.cc and p2os.cc codes to see if I could change this parameter. It appears the ptz msgs comes from the aux serial port. If it is possible, how could I configure it to communicate with ttyS3 port?
Thank you,
Jhony Ferreira
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