Basler Dart M Camera with ROS2

[Pandananana]

Describe what you want to implement and what the issue & the steps to reproduce it are:

I have a Dart-M camera (DMA 1920-51GC-LS). Is this not supported by this ROS2 driver?

I am getting this error when running the launch command: ros2 launch pylon_ros2_camera_wrapper pylon_ros2_camera.launch.py

[pylon_ros2_camera_wrapper-1] 1731576632.307847230 [basler.pylon.ros2.pylon_ros2_camera] [ERROR] Found 'BaslerGigE' camera device type, but it is neither a ace, nor a ace2 camera device. Other camera types are not supported by this driver for now!

The error message comes form pylon_ros2_camera.cpp file.
Is there another branch that supports my camera, or is it really only ace and ace2 cameras that are supported by this driver?

Hardware setup description

Camera Serial: 40556314
Firmware Version: p=mg2_imx392c/s=r/v=1.0.1/i=9122.11/h=8170e60
CPU: x86
OS: Ubuntu 22.04

Runtime information

Could not get Shift + Ctrl + Alt + i to work

ROS Distro: Humble

Is your camera operational with the Basler pylon Viewer on your platform?

Yes

[FrancoisPicardDTI]

Hello @Pandananana
The Dart-M model is not supported (yet) by the ROS2 driver. It is not planned for now but I am keeping this issue opened in case of several users ask for this support.
In any case, you more than welcome to suggest a pull request if you integrate this model in the existing pylon driver.

[SMA2016a]

@Pandananana, you may easily work around this if you set fooling in the cpp. pylon_ros2_camera.cpp in Line 82. I did not test it, but it must work.

else if (model_name.compare(0, 3, "a2A") == 0 || model_name.compare(0, 3, "dmA") == 0)

{

     return GIGE2;

}

[sw010129]

Modified line 82 of the pylon_ros2_camera.cpp file as you did and the problem persists, what should I do

[epiphyte]

You should give https://github.com/magazino/pylon_camera a try.

[jordigc2]

Hi @FrancoisPicardDTI ,

I tested a small change proposed by @Pandananana locally and can confirm that it works for Basler dart GigE (dmA…) cameras.

In pylon_ros2_camera.cpp (around line 82), extending the model prefix check to include dmA allows the dart GigE camera to be handled correctly:

else if (model_name.compare(0, 3, "a2A") == 0 ||
         model_name.compare(0, 3, "dmA") == 0)
{
    return GIGE2;
}

With this change, the driver successfully connects to a dmA1920-51gc dart camera and operates normally.

Would it be possible to include this upstream so that dart GigE cameras are supported out of the box and the fix persists across future software updates?

[SMA2016a]

yes, I can create a pull request

[jordigc2]

@SMA2016a any progress on creating the PR? I want to use this update into multiple machines and I don't want to have such changes locally.

Thank you very much.