Camera

HRIM defines a camera as
An optical instrument for recording or capturing an image/series of images.

So, apart from the common requirements (ID, Status, Power, Specs and Simulation, detailed in HRIM component model section), all cameras will contain a topic referring to publishing an image.

HRIM component model: Camera
/hrim_sensor_camera_<instance_id>/id hrim_generic_msgs/msg/ID.msg topic (Pub) M Component identification.
/hrim_sensor_camera_<instance_id>/status hrim_generic_msgs/msg/Status.msg topic (Pub) M How the module is working.
/hrim_sensor_camera_<instance_id>/power hrim_generic_msgs/msg/Power.msg topic (Pub) M Describes the power supply type and give the information about the module power consumption.
/hrim_sensor_camera_<instance_id>/specs_comm hrim_generic_msgs/msg/SpecsCommunication.msg topic (Pub) M Published the capabilities in term of communicaction that the component offers.
/hrim_sensor_camera_<instance_id>/state_comm hrim_generic_msgs/msg/StateCommunication.msg topic (Pub) M Published the resources that the component is using at the moment.
/hrim_sensor_camera_<instance_id>/module_3d hrim_generic_msgs/msg/Simulation3D.msg topic (Pub) M Ask for the 3D model of the HRIM component.
/hrim_sensor_camera_<instance_id>/module_urdf hrim_generic_msgs/msg/SimulationURDF.msg topic (Pub) M Ask for the information of,3D model of the HRIM component.
/hrim_sensor_camera_<instance_id>/specs hrim_sensor_camera_msgs/msg/SpecsCamera.msg topic (Pub) M Device features.
/hrim_sensor_camera_<instance_id>/image_raw hrim_sensor_camera_msgs/msg/Image.msg topic (Pub) M Raw image.
/hrim_sensor_camera_<instance_id>/compressed hrim_sensor_camera_msgs/msg/CompressedImage.msg topic (Pub) O .jpg or .png
/hrim_sensor_camera_<instance_id>/image_mono hrim_sensor_camera_msgs/msg/Image.msg topic (Pub) O Monocrhome, distorted.
/hrim_sensor_camera_<instance_id>/image_color hrim_sensor_camera_msgs/msg/Image.msg topic (Pub) O Color, distorted.
/hrim_sensor_camera_<instance_id>/image_rect hrim_sensor_camera_msgs/msg/Image.msg topic (Pub) O Monocrhome, rectified.
/hrim_sensor_camera_<instance_id>/image_rect_color hrim_sensor_camera_msgs/msg/Image.msg topic (Pub) O Color, rectified.
/hrim_sensor_camera_<instance_id>/image_camera_info hrim_sensor_camera_msgs/msg/CameraInfo.msg topic (Pub) O Camera meta information.
/hrim_sensor_camera_<instance_id>/set_camera_info hrim_sensor_camera_srvs/srv/SetCameraInfo.srv service O Set camera calibration.
/hrim_sensor_camera_<instance_id>/ptz hrim_sensor_camera_msgs/msg/PTZ.msg topic (Sub) O Pan, Tilt, Zoom.
/hrim_sensor_camera_<instance_id>/audio_raw hrim_sensor_microphone_msgs/msg/Audio.msg topic (Pub) O Integrated microphone.
/hrim_actuator_rotaryservo_<instance_id>/reconfiguration hrim_sensor_imu_msgs/msg/Reconfiguration.msg topic (Pub) O Dynamic reconfiguration of H-ROS systems. The integration of an IMU sensor is needed.
Parameters
frame_id string M Sets the TF frame from which the camera is publishing.
weight int px M Resolution: weight (weight x height)
height int px M Resolution: height (weight x height)
frame_rate int fps M Refresh rate.
image_format string - M Possible values are: ”rgb8”, ”rgba8”, ”rgb16”, ”rgba16”, ”bgr8”, ”bgra8”, ”bgr16”, ”bgra16”, ”mono8”, ”mono16”, ”bayerrggb8”, ”bayerbggr8”, ”bayergbrg8”, ”bayergrbg8”, ”bayerrggb16”, ”bayerbggr16”, ”bayergbrg16”, ”bayergrbg16”.:
auto_brightness bool [true/false] O Brightness control state
brightness float [0 - 100]% O Black level offset
auto_binning bool [true/false] O Combines rectangular neighborhoods of pixels into larger ”super-pixels”
binning_x float [0 - 100]% O Binning width
binning_y float [0 - 100]% O Binning height
auto_contrast bool [true/false] O Black level offset
contrast float [0 - 100]% O Difference in brightness between light and dark areas
auto_exposure bool [true/false] O Combined Iris, Gain and Shutterspeed
exposure float [0 - 100]% O Exposure time
auto_focus bool [true/false] O Focus control state
focus float [0 - 100]% O Definition of the image
auto_gain bool [true/false] O Gain control state
gain float [0 - 100]% O Relative circuit gain
gain_red float [0 - 100]% O Gain percentage for red channel
gain_green float [0 - 100]% O Gain percentage for green channel
gain_blue float [0 - 100]% O Gain percentage for blue channel
auto_gamma bool [true/false] O Gamma expansion exponent
gamma float [0 - 100]% O Gamma expansion exponent
auto_hue bool [true/false] O Hue control state
hue float [0 - 100]% O Color phase
auto_iris bool [true/false] O Iris control state
iris float [0 - 100]% O Iris control
auto_iso bool [true/false] O ISO control state
iso float [0 - 100]% O ISO speed: How sensitive the film is to light
auto_saturation bool [true/false] O Saturation control state
saturation float [0 - 100]% O Color saturation
auto_sharpness bool [true/false] O Sharpness control state
sharpness float [0 - 100]% O Image sharpness
auto_shutter bool [true/false] O Shutter control state
shutter float [0 - 100]% O Shutter speed: duration of the exposure
auto_white_balance bool [true/false] O White balance control state
white_balance_blue float [0 - 100]% O Blue component of white balance
white_balance_red float [0 - 100]% O Blue component of red balance
auto_zoom bool [true/false] O Zoom control state
username string - O Name for camera accessing. The manufacturer will offer a default username.
password string - O Password for camera accessing. The manufacturer will offer a default password.
pan_angle_start double rad O Related to PTZ.msg
Pan range start point.
NOTE: Mandatory if PTZ.msg is added.
pan_angle_end double rad O Related to PTZ.msg
Pan range end point.
NOTE: Mandatory if PTZ.msg is added.
pan_speed float rad/s O Related to PTZ.msg
Pan speed.
NOTE: Mandatory if PTZ.msg is added.
tild_angle_start double rad O Related to PTZ.msg
Tild range start point.
NOTE: Mandatory if PTZ.msg is added.
tild_angle_end double rad O Related to PTZ.msg
Tild range end point.
NOTE: Mandatory if PTZ.msg is added.
tild_speed float rad/s O Related to PTZ.msg
Tild speed.
NOTE: Mandatory if PTZ.msg is added.
frecuency_rate int Hz/s O Related to Audio.msg
Audio sampling frecuency.
NOTE: Mandatory if Audio.msg is added.

The automatics camera parameters are values that the camera can regulate automatically, being one of the biggest advances of the cameras, since you do not need to be an expert to take a good photo, because the variables are regulated automatically thanks to different sensors that are incorporated. On the other hand the user may be interested in changing these values to get something specific or suitable for its application, in that case the user will be able to personalize the image with its own values whenever possible. If it is possible the cameras will have activated by default the auto and in case the user wants to go to manual the last value of the automatic state must be reflected on it.