Flir ROS Driver
===============

.. image:: media/pictures/flir.png
    :width: 100%
    :align: center

Flir ROS Driver Parameters
--------------------------

It is necessary to setup the ROS parameters to enable communication between the camera Driver
and ROS.

.. table:: Flir ROS Parameters

   ================= ========================================================================
   ROS Parameter     Description
   ================= ========================================================================
   api_file_path     Path to the REST api definition file.
   camera_api_key    Every camera needs to authenticate the user data and requests.
   camera_ip         IP address of the camera.
   ir_format         Smart cameras provide data in different formats (e.g. avc, mpeg4, mjpg)
   is_rgb_required   True if RGB image from the camera is required.
   visual_format     Smart cameras provide data in different formats (e.g. avc, mpeg4, mjpg)
   is_http           If the communication is http or https.
   overlay           Show/Hide camera overlay.
   verbose           If true redirects API requests and json data to standard output.
   ================= ========================================================================

Flir ROS Driver
---------------

* Launch the ROS Driver

.. code-block:: bash
       
       roslaunch flir_smart_camera_driver driver.launch

Flir Published Topics
---------------------

.. table:: Flir ROS Published Topic

   ================= ==========================
   Topic name        Type
   ================= ==========================
   alarms/active     flir_msgs/ActiveAlarms
   alarms/triggered  flir_msgs/TriggeredAlarms
   stream/ir         sensors_msgs/Image
   stream/rgb        sensors_msgs/Image
   ================= ==========================