This ROS_ package provides an Axis network camera driver, written in Python.

ROS wiki documentation: axis_camera.

This driver is under active development. Its ROS interfaces are relatively stable, but may still change.

• axis_node.py: Version 2 of the axis.py node. It works based on profiles + params. It is necessary to have the profiles defined. Sets up axis camera and ptz server.

If we want to use camera_info publication it is important that configuration .yaml has the same resolution than the resolution set in the camera (using or not profiles)

Note: if you are using AXIS M5054 you can use p5534 configuration files.

In launch/axis.launch:

<arg name="camera_model" default="axis_model"/>

<param name="camera_model" value="axis_model"/>

• config/axis_model_ptz_config.yaml: ptz control parameters
• data/axis_model.ayml: camera parameters

There are three different launch files in this package.

Note: if you encounter this error while trying to run any of the following commands just type export ROS_NAMESPACE=axis in your console.

• For running the camera control node and starting the live view GUI:

roslaunch axis_camera start_axis_and_video.launch

• For running only the camera control node:

roslaunch axis_camera axis.launch

• For running only the live view GUI (camera control node must be running):

roslaunch axis_camera image_view.launch

• You can also run image_view directly (setting the image topic to /axis/image_color):

rosrun image_view image_view image:=/axis/image_color

You can send your camera PTZ commands via the /axis/axis_camera/ptz_command topic:

rostopic pub /axis/axis_camera/ptz_command robotnik_msgs/ptz "pan: 0.5
tilt: -1.0
zoom: 2.0
relative: false" 

• params pan and tilt as float (radians)
• param zoom as float (proportional zoom between 0 and 9999)
• param relative as bool (increases the current pan,tilt,zoom relative to the current values)