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Using Baxter Cameras
Baxter has 3 cameras – one in each hand and one on the head. All three are color cameras. But,
at any one time only two cameras can be active due to 64-bit limitations with the Indigo
Baxter's internal USB hub. Thus, only two cameras can be powered at once.
The cameras are named ‘left_hand_camera’, ‘right_hand_camera’, and ‘head_camera’
To list all the camera topics, connect to Baxter ($ ./baxter.sh) and then run
$ rostopic list | grep camera (List all topics with word ‘camera’)
The following should get printed on the screen
Opening and closing cameras
The camera control tool provides the API to open and close different cameras. This is through
the camera_control.py script which is part of the baxter_tools package.
The script has options for opening, closing and listing currently open cameras. Here’s the set of
options for the file
usage: camera_control.py [-h] [-o CAMERA] [-r [X]x[Y]] [-c CAMERA] [-l] [-e]
optional arguments:
-h, --help show this help message and exit
-o CAMERA, --open CAMERA
Open specified camera
-r [X]x[Y], --resolution [X]x[Y]
Set camera resolution (default: 1280x800)
-c CAMERA, --close CAMERA
Close specified camera
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