Galaxy-Camera-ROS2

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ROS 2 driver for Daheng Galaxy industrial cameras (大恒工业相机驱动). The node configures a device through the official Galaxy SDK, converts the Bayer stream to color images and publishes synchronized image_raw and camera_info topics for downstream perception components.

_{大恒工业相机 MER-139-210U3C | 效果展示-感谢董的萝卜君友情出演😄}

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Requirements

• ROS 2 Humble with rclcpp, image_transport, camera_info_manager
• Daheng Galaxy SDK (/opt/Galaxy/, libgxiapi.so, DxImageProc.so etc.) installed on the system

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Build

cd ~/ros2_ws/src
git clone https://github.com/BreCaspian/Galaxy-Camera-ROS2.git galaxy_camera_ros2
cd ..
source /opt/ros/humble/setup.bash
colcon build --packages-select galaxy_camera_ros2
source install/setup.bash

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Configuration

Runtime settings live in config/camera.yaml, which is a ROS 2 parameter file following the standard <node_name>.ros__parameters layout:

galaxy_camera_ros2:
  ros__parameters:
    camera_name: galaxy_camera_ros2
    Camera:
      pixel_format: bgr8  # allowed values: mono8, bgr8
      serial_number: ""
      cam_info_url: package://galaxy_camera_ros2/config/ost.yaml
      # ...

Important fields include:

• camera_name / camera_frame_id – frame metadata stamped on every message.
• Camera.serial_number – camera SN (leave empty to open the first detected device).
• Camera.cam_info_url – path to the calibration YAML (config/ost.yaml by default).
• Camera.frame_rate, Camera.pixel_format (device formats: mono8, bgr8, bayer_rg8, bayer_gr8, bayer_gb8, bayer_bg8), Camera.image_width, Camera.image_height.
  When changing the resolution, update config/ost.yaml accordingly; the node will override mismatched dimensions but calibration accuracy will be impacted.
• Camera.Trigger.*, Camera.Exposure.*, Camera.Gain.*, Camera.Gamma.*, Camera.Contrast.* – low-level SDK parameters to control triggering and image quality.

Warning

The calibration file config/ost.yaml must match the output resolution; the driver will abort if the dimensions disagree in order to avoid publishing inconsistent camera models.

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Running

ros2 launch galaxy_camera_ros2 galaxy_camera.launch.py \
  params_file:=/path/to/galaxy_camera_ros2/config/camera.yaml

Topics:

• /image_raw (remappable): sensor_msgs/msg/Image with SensorDataQoS
• /camera_info: sensor_msgs/msg/CameraInfo synchronized with the image timestamp

Use standard ROS 2 tools for visualization or playback:

View Image in RQt

ros2 run rqt_image_view rqt_image_view

Select /image_raw.

ros2 topic echo /camera_info

View Camera Images in RViz2

ros2 run rviz2 rviz2

In RViz2: Click Add → Image Select topic: /image_raw

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Notes

• compressedDepth only supports single-channel 16-bit/32-bit depth maps, while the current driver outputs color bgr8. Therefore, selecting /image_raw/compressedDepth will continue to result in plugin errors, which is the expected behavior (it requires a depth camera to enable).
• Dynamic parameter updates are not yet implemented; modify the YAML file and restart the node to apply changes.
• 为什么 /image_raw 是绿油油的？

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Maintainer & License

• Maintainer: yaoyuzhuo6@gmail.com
• License: GPL-3.0-or-later