Add support for Axis cameras (#90)

* Add the initial AxisCamera class with all ROS parameters defined in axis_camera's launch files & nodes

* Remove duplicate argument

* Add the AxisCamera class to the sensors generator

* Add the serial to the axis camera's template

* Add serial to the template keys too

* Add serial getter/setter. Use empty string as default serial

* Refactoring, set the property to the value for the template

* frame_width -> width, frame_height -> height

* Rename setter

* Make the scales & offsets floats by default

* Add the TF prefix parameter

* Add the camera_info_url parameter

* camera_num -> camera

* Note that the serial isn't used, fix the name of the PTZ teleop parameter

* Add the remaining camera topics to the Topics object

* image_raw -> image

* Add axis_camera sample

* Linting fixes

* End docstring with `.`

Author: civerachb-cpr

clearpath_config/sample/sensors/axis_camera.yaml

@@ -0,0 +1,50 @@
+serial_number: a200-0000
+version: 0
+sensors:
+  camera:
+    - model: axis_camera
+      urdf_enabled: true
+      launch_enabled: true
+      parent: base_link
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      ros_parameters:
+        axis_camera:
+          hostname: "192.168.131.10"
+          http_port: 80
+          username: "root"
+          password: ""
+          width: 640
+          height: 480
+          fps: 20
+          tf_prefix: "axis"
+          camera_info_url: ""
+          use_encrypted_password : False
+          camera : 1
+          ir: False
+          defog: False
+          wiper: False
+          ptz: True
+          min_pan: -3.141592653589793
+          max_pan: 3.141592653589793
+          min_tilt: 0.0
+          max_tilt: 1.5707963267948966
+          min_zoom: 1
+          max_zoom: 24
+          max_pan_speed: 2.61
+          max_tilt_speed: 2.61
+          ptz_teleop: True
+          button_enable_pan_tilt : -1
+          button_enable_zoom     : -1
+          axis_pan      : 3
+          axis_tilt     : 4
+          invert_tilt   : False
+          axis_zoom_in: 5
+          axis_zoom_out: 2
+          zoom_in_offset: -1.0
+          zoom_out_offset: -1.0
+          zoom_in_scale: -0.5
+          zoom_out_scale: 0.5
+          scale_pan     : 2.61
+          scale_tilt    : 2.61
+          scale_zoom    : 100.0

clearpath_config/sensors/sensors.py

@@ -32,6 +32,7 @@
 from clearpath_config.common.utils.dictionary import flip_dict
 from clearpath_config.sensors.types.sensor import BaseSensor
 from clearpath_config.sensors.types.cameras import (
+    AxisCamera,
     BaseCamera,
     FlirBlackfly,
     IntelRealsense,
@@ -93,12 +94,14 @@ def __new__(cls, model: str) -> BaseIMU:
 
 
 class Camera():
+    AXIS_CANERA = AxisCamera.SENSOR_MODEL
     FLIR_BLACKFLY = FlirBlackfly.SENSOR_MODEL
     INTEL_REALSENSE = IntelRealsense.SENSOR_MODEL
     STEREOLABS_ZED = StereolabsZed.SENSOR_MODEL
     LUXONIS_OAKD = LuxonisOAKD.SENSOR_MODEL
 
     MODEL = {
+        AXIS_CANERA: AxisCamera,
         FLIR_BLACKFLY: FlirBlackfly,
         INTEL_REALSENSE: IntelRealsense,
         STEREOLABS_ZED: StereolabsZed,