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: RotaryServo
URI XML MODEL ABSTRACTION CLASS
M/O
SHORT DESCRIPTION
/hrim_sensor_camera_<instance_id>/id generic/id.xml topic
(Pub)
M Component identification.
/hrim_sensor_camera_<instance_id>/status generic/status.xml topic
(Pub)
M How the module is working.
/hrim_sensor_camera_<instance_id>/power generic/power.xml topic
(Pub)
M Describes the power supply type and give the information about the module power consumption.
/hrim_sensor_camera_<instance_id>/specs_comm generic/specs_comm.xml topic
(Pub)
M Published the capabilities in term of communicaction that the component offers.
/hrim_sensor_camera_<instance_id>/state_comm generic/state_comm.xml topic
(Pub)
M Published the resources that the component is using at the moment.
/hrim_sensor_camera_<instance_id>/module_3d generic/module_3d.xml topic
(Pub)
M Ask for the 3D model of the HRIM component.
/hrim_sensor_camera_<instance_id>/module_urdf generic/module_urdf.xml topic
(Pub)
M Ask for the information of the HRIM component's 3D model.
/hrim_sensor_camera_<instance_id>/specs sensor/camera/topics/specs.xml topic
(Pub)
M Device features.
/hrim_sensor_camera_<instance_id>/image_raw sensor/camera/topics/image.xml topic
(Pub)
M Raw image.
/hrim_sensor_camera_<instance_id>/compressed sensor/camera/topics/compressed.xml topic
(Pub)
O .jpg or .png
/hrim_sensor_camera_<instance_id>/image_mono sensor/camera/topics/image.xml topic
(Pub)
O Monocrhome, distorted.
/hrim_sensor_camera_<instance_id>/image_color sensor/camera/topics/image.xml topic
(Pub)
O Color, distorted.
/hrim_sensor_camera_<instance_id>/image_rect sensor/camera/topics/image.xml topic
(Pub)
O Monocrhome, rectified.
/hrim_sensor_camera_<instance_id>/image_rect_color sensor/camera/topics/image.xml topic
(Pub)
O Color, rectified.
/hrim_sensor_camera_<instance_id>/image_camera_info sensor/camera/topics/cameraInfo.xml topic
(Pub)
O Camera meta information.
/hrim_sensor_camera_<instance_id>/set_camera_info sensor/camera/topics/setCameraInfo.xml service O Set camera calibration.
/hrim_sensor_camera_<instance_id>/ptz sensor/camera/topics/ptz.xml topic
(Sub)
O Pan, Tilt, Zoom.
/hrim_sensor_camera_<instance_id>/audio_raw sensor/camera/topics/audio.xml topic
(Sub)
O Integrated microphone.
/hrim_sensor_camera_<instance_id>/reconfiguration sensor/camera/topics/reconfiguration.xml topic
(Sub)
O Dynamic reconfiguration of H-ROS systems. The integration of an IMU sensor is needed.
Parameters
PARAMETER NAME DATA TYPE UNIT CLASS
M/O
SHORT DESCRIPTION
frame_id string M Sets the TF frame from which the camera is publishing.
width int px M Resolution: width (width x height)
height int px M Resolution: height (width 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 [0/1] O Brightness control state
brightness float % O Black level offset
auto_binning bool [0/1] O Combines rectangular neighborhoods of pixels into larger 'super-pixels'
binning_x float % O Binning width
binning_y float % O Binning height
auto_contrast bool [0/1] O Black level offset
contrast float % O Difference in brightness between light and dark areas
auto_exposure bool [0/1] O Combined Iris, Gain and Shutterspeed
exposure float % O Exposure time
auto_focus bool [0/1] O Focus control state
focus float % O Definition of the image
auto_gain bool [0/1] O Gain control state
gain float % O Relative circuit gain
gain_red float % O Gain percentage for red channel
gain_green float % O Gain percentage for green channel
gain_blue float % O Gain percentage for blue channel
auto_gamma bool [0/1] O Gamma expansion exponent
gamma float % O Gamma expansion exponent
auto_hue bool [0/1] O Hue control state
hue float % O Color phase
auto_iris bool [0/1] O Iris control state
iris float % O Iris control
auto_iso bool [0/1] O ISO control state
iso float % O ISO speed: How sensitive the film is to light
auto_saturation bool [0/1] O Saturation control state
saturation float % O Color saturation
auto_sharpness bool [0/1] O Sharpness control state
sharpness float % O Image sharpness
auto_shutter bool [0/1] O Shutter control state
shutter float % O Shutter speed: duration of the exposure
auto_white_balance bool [0/1] O White balance control state
white_balance_blue float % O Blue component of white balance
white_balance_red float % O Blue component of red balance
auto_zoom bool [0/1] 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 topic
Pan range start point.
NOTE: Mandatory if ptz topic is added.
pan_angle_end double rad O Related to ptz topic
Pan range end point.
NOTE: Mandatory if ptz topic is added.
pan_speed float rad/s O Related to ptz topic
Pan speed.
NOTE: Mandatory if ptz topic is added.
tild_angle_start double rad O Related to ptz topic
Tild range start point.
NOTE: Mandatory if ptz topic is added.
tild_angle_end double rad O Related to ptz topic
Tild range end point.
NOTE: Mandatory if ptz topic is added.
tild_speed float rad/s O Related to ptz topic
Tild speed.
NOTE: Mandatory if ptz topic is added.
frecuency_rate int Hz/s O Related to audio_raw topic
Audio sampling frecuency.
NOTE: Mandatory if audio_raw topic 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.

Note: the {BASE} wildcard references the base topics all modules contain, defined in the HRIM component model page.

The XML notation would look like:

<?xml version="1.0"?>
<module name="camera" type="sensor" description="defines the messages to interact with a camera">

  <mandatory>

    {BASE}

    <topic name="specs" type="publish" description="defines the most important characteristic of the camera" fileName="SpecsCamera">
      <property name="header" type="header" fileName="Header">
        <property name="time" type="time" fileName="Time">
          <property name="sec" type="int32" unit="second">
            <value></value>
          </property>
          <property name="nanosec" type="uint32" unit="nanosecond">
            <value></value>
          </property>
        </property>
        <property name="frame_id" type="string" description="transform frame with which this data is associated">
          <value></value>
        </property>
      </property>
      <property name="resolution" type="string" unit="pixel" description="example: 752x480, 1280x1024">
        <value></value>
      </property>
      <property name="frame_rate" type="uint32" unit="frames per second" description="maximum value">
        <value></value>
      </property>
      <property name="image_formats" type="string" description="example: mono8, rgb1, bayergrbg8">
        <value></value>
      </property>
      <property name="ptz" type="boolean" description="true: the camera has this extra; false: it does not">
        <value></value>
      </property>
      <property name="pan_vision_range" type="float32" unit="radian" description="example: 360">
        <value></value>
      </property>
      <property name="tilt_vision_range" type="float32" description="example: 135">
        <value></value>
      </property>
      <property name="microphone" type="boolean" description="true: the camera has this extra; false: it does not">
        <value></value>
      </property>
    </topic>

    <topic name="image" type="publish" description="contains an uncompressed image" fileName="Image">
      <property name="header" type="header" fileName="Header">
        <property name="time" type="time" fileName="Time">
          <property name="sec" type="int32" unit="second">
            <value></value>
          </property>
          <property name="nanosec" type="uint32" unit="nanosecond">
            <value></value>
          </property>
        </property>
        <property name="frame_id" type="string" description="transform frame with which this data is associated">
          <value></value>
        </property>
      </property>
      <property name="height" type="uint32" description="image height, that is, number of rows">
        <value></value>
      </property>
      <property name="width" type="uint32" description="image width, that is, number of columns">
        <value></value>
      </property>
      <property name="encoding" type="string" description="encoding of pixels channel meaning, ordering, size">
        <value></value>
      </property>
      <property name="is_bigendian" type="uint8" description="is this data bigendian?">
        <value></value>
      </property>
      <property name="step" type="uint32" description="full row length in bytes">
        <value></value>
      </property>
      <property name="data" type="uint8[]" description="actual matrix data, size is (step * rows)">
        <value></value>
      </property>
    </topic>

    <param name="frame_id" type="string" description="Sets the TF frame from which the camera is publishing.">
      <value></value>
    </param>

    <param name="weight" type="int" unit="px" description="  Resolution: weight (weight x height)">
      <value></value>
    </param>

    <param name="height" type="int" unit="px" description="Resolution: height (weight x height)">
      <value></value>
    </param>

    <param name="frame_rate" type="int" unit="fps" description="Refresh rate.">
      <value></value>
    </param>

    <param name="image_format" type="string" description="Possible values are: 'rgb8', 'rgba8', 'rgb16', 'rgba16', 'bgr8', 'bgra8', 'bgr16', 'bgra16', 'mono8', 'mono16', 'bayerrggb8', 'bayerbggr8', 'bayergbrg8', 'bayergrbg8', 'bayerrggb16', 'bayerbggr16', 'bayergbrg16', 'bayergrbg16'.">
      <value></value>
    </param>

  </mandatory>

  <optional>

    <topic name="compressed" type="publish" description="contains a compressed image" fileName="CompressedImage">
      <property name="header" type="header" fileName="Header">
        <property name="time" type="time" fileName="Time">
          <property name="sec" type="int32" unit="second">
            <value></value>
          </property>
          <property name="nanosec" type="uint32" unit="nanosecond">
            <value></value>
          </property>
        </property>
        <property name="frame_id" type="string" description="transform frame with which this data is associated">
          <value></value>
        </property>
      </property>
      <property name="format" type="string" description="specifies the format of the data (jpeg|png)">
        <value></value>
      </property>
      <property name="data" type="uint8[]" description="compressed image buffer">
        <value></value>
      </property>
    </topic>

    <topic name="image_mono" type="publish" description="monochrome, distorted" fileName="Image">
      <property name="header" type="header" fileName="Header">
        <property name="time" type="time" fileName="Time">
          <property name="sec" type="int32" unit="second">
            <value></value>
          </property>
          <property name="nanosec" type="uint32" unit="nanosecond">
            <value></value>
          </property>
        </property>
        <property name="frame_id" type="string" description="transform frame with which this data is associated">
          <value></value>
        </property>
      </property>
      <property name="height" type="uint32" description="image height, that is, number of rows">
        <value></value>
      </property>
      <property name="width" type="uint32" description="image width, that is, number of columns">
        <value></value>
      </property>
      <property name="encoding" type="string" description="encoding of pixels channel meaning, ordering, size">
        <value></value>
      </property>
      <property name="is_bigendian" type="uint8" description="is this data bigendian?">
        <value></value>
      </property>
      <property name="step" type="uint32" description="full row length in bytes">
        <value></value>
      </property>
      <property name="data" type="uint8[]" description="actual matrix data, size is (step * rows)">
        <value></value>
      </property>
    </topic>

    <topic name="image_color" type="publish" description="color, distorted" fileName="Image">
      <property name="header" type="header" fileName="Header">
        <property name="time" type="time" fileName="Time">
          <property name="sec" type="int32" unit="second">
            <value></value>
          </property>
          <property name="nanosec" type="uint32" unit="nanosecond">
            <value></value>
          </property>
        </property>
        <property name="frame_id" type="string" description="transform frame with which this data is associated">
          <value></value>
        </property>
      </property>
      <property name="height" type="uint32" description="image height, that is, number of rows">
        <value></value>
      </property>
      <property name="width" type="uint32" description="image width, that is, number of columns">
        <value></value>
      </property>
      <property name="encoding" type="string" description="encoding of pixels channel meaning, ordering, size">
        <value></value>
      </property>
      <property name="is_bigendian" type="uint8" description="is this data bigendian?">
        <value></value>
      </property>
      <property name="step" type="uint32" description="full row length in bytes">
        <value></value>
      </property>
      <property name="data" type="uint8[]" description="actual matrix data, size is (step * rows)">
        <value></value>
      </property>
    </topic>

    <topic name="image_rect" type="publish" description="monochrome, rectified" fileName="Image">
      <property name="header" type="header" fileName="Header">
        <property name="time" type="time" fileName="Time">
          <property name="sec" type="int32" unit="second">
            <value></value>
          </property>
          <property name="nanosec" type="uint32" unit="nanosecond">
            <value></value>
          </property>
        </property>
        <property name="frame_id" type="string" description="transform frame with which this data is associated">
          <value></value>
        </property>
      </property>
      <property name="height" type="uint32" description="image height, that is, number of rows">
        <value></value>
      </property>
      <property name="width" type="uint32" description="image width, that is, number of columns">
        <value></value>
      </property>
      <property name="encoding" type="string" description="encoding of pixels channel meaning, ordering, size">
        <value></value>
      </property>
      <property name="is_bigendian" type="uint8" description="is this data bigendian?">
        <value></value>
      </property>
      <property name="step" type="uint32" description="full row length in bytes">
        <value></value>
      </property>
      <property name="data" type="uint8[]" description="actual matrix data, size is (step * rows)">
        <value></value>
      </property>
    </topic>

    <topic name="image_rect_color" type="publish" description="color, rectified" fileName="Image">
      <property name="header" type="header" fileName="Header">
        <property name="time" type="time" fileName="Time">
          <property name="sec" type="int32" unit="second">
            <value></value>
          </property>
          <property name="nanosec" type="uint32" unit="nanosecond">
            <value></value>
          </property>
        </property>
        <property name="frame_id" type="string" description="transform frame with which this data is associated">
          <value></value>
        </property>
      </property>
      <property name="height" type="uint32" description="image height, that is, number of rows">
        <value></value>
      </property>
      <property name="width" type="uint32" description="image width, that is, number of columns">
        <value></value>
      </property>
      <property name="encoding" type="string" description="encoding of pixels channel meaning, ordering, size">
        <value></value>
      </property>
      <property name="is_bigendian" type="uint8" description="is this data bigendian?">
        <value></value>
      </property>
      <property name="step" type="uint32" description="full row length in bytes">
        <value></value>
      </property>
      <property name="data" type="uint8[]" description="actual matrix data, size is (step * rows)">
        <value></value>
      </property>
    </topic>

    <topic name="image_camera_info" type="publish" description="camera meta information" fileName="CameraInfo">
      <property name="header" type="header" fileName="Header">
        <property name="time" type="time" fileName="Time">
          <property name="sec" type="int32" unit="second">
            <value></value>
          </property>
          <property name="nanosec" type="uint32" unit="nanosecond">
            <value></value>
          </property>
        </property>
        <property name="frame_id" type="string" description="transform frame with which this data is associated">
          <value></value>
        </property>
      </property>
      <property name="height" type="uint32" unit="pixel" description="image height, that is, number of rows">
        <value></value>
      </property>
      <property name="width" type="uint32" unit="pixel" description="image width, that is, number of columns">
        <value></value>
      </property>
      <property name="distortion_model" type="string">
        <value></value>
      </property>
      <property name="d" type="float64[]" description="the distortion parameters, size depending on the distortion model">
        <value></value>
      </property>
      <property name="k" type="float64[9]" description="intrinsic camera matrix for the raw (distorted) images">
        <value></value>
      </property>
      <property name="p" type="float64[12]" description="by convention, this matrix specifies the intrinsic (camera) matrix of the processed (rectified) image">
        <value></value>
      </property>
    </topic>

    <topic name="set_camera_info" type="service" description="set camera calibration" fileName="SetCameraInfo">
      <property name="camera_info" type="cameraInfo" description="the camera info to store" fileName="CameraInfo">
        <property name="header" type="header" fileName="Header">
          <property name="time" type="time" fileName="Time">
            <property name="sec" type="int32" unit="second">
              <value></value>
            </property>
            <property name="nanosec" type="uint32" unit="nanosecond">
              <value></value>
            </property>
          </property>
          <property name="frame_id" type="string" description="transform frame with which this data is associated">
            <value></value>
          </property>
        </property>
        <property name="height" type="uint32" unit="pixel" description="image height, that is, number of rows">
          <value></value>
        </property>
        <property name="width" type="uint32" unit="pixel" description="image width, that is, number of columns">
          <value></value>
        </property>
        <property name="distortion_model" type="string">
          <value></value>
        </property>
        <property name="d" type="float64[]" description="the distortion parameters, size depending on the distortion model">
          <value></value>
        </property>
        <property name="k" type="float64[9]" description="intrinsic camera matrix for the raw (distorted) images">
          <value></value>
        </property>
        <property name="p" type="float64[12]" description="by convention, this matrix specifies the intrinsic (camera) matrix of the processed (rectified) image">
          <value></value>
        </property>
      </property>
      <response>
        <property name="success" type="boolean" description="true if the call succeeded">
          <value></value>
        </property>
        <property name="status_message" type="string" description="used to give details about success">
          <value></value>
        </property>
      </response>
    </topic>

    <topic name="ptz" type="subscribe" description="pan, tilt, zoom" fileName="PTZ">
      <property name="header" type="header" fileName="Header">
        <property name="time" type="time" fileName="Time">
          <property name="sec" type="int32" unit="second">
            <value></value>
          </property>
          <property name="nanosec" type="uint32" unit="nanosecond">
            <value></value>
          </property>
        </property>
        <property name="frame_id" type="string" description="transform frame with which this data is associated">
          <value></value>
        </property>
      </property>
      <property name="pan" type="float32" unit="radian">
        <value></value>
      </property>
      <property name="tilt" type="float32" unit="radian">
        <value></value>
      </property>
      <property name="zoom" type="float32">
        <value></value>
      </property>
    </topic>

    <topic name="audio_raw" type="publish" description="integrated microphone" fileName="Audio">
      <property name="header" type="header" fileName="Header">
        <property name="time" type="time" fileName="Time">
          <property name="sec" type="int32" unit="second">
            <value></value>
          </property>
          <property name="nanosec" type="uint32" unit="nanosecond">
            <value></value>
          </property>
        </property>
        <property name="frame_id" type="string" description="transform frame with which this data is associated">
          <value></value>
        </property>
      </property>
      <property name="frequency" type="uint16" unit="frequency" description="current frequency of the audio interface">
        <value></value>
      </property>
      <property name="data" type="int16[]" description="interlaced data of the audio buffer">
        <value></value>
      </property>
    </topic>

    <topic name="reconfiguration" type="publish" description="dynamic reconfiguration of H-ROS systems" fileName="Reconfiguration">
      <property name="header" type="header" fileName="Header">
        <property name="time" type="time" fileName="Time">
          <property name="sec" type="int32" unit="second">
            <value></value>
          </property>
          <property name="nanosec" type="uint32" unit="nanosecond">
            <value></value>
          </property>
        </property>
        <property name="frame_id" type="string" description="transform frame with which this data is associated">
          <value></value>
        </property>
      </property>
      <property name="orientation" type="quaternion" fileName="Quaternion">
        <property name="x" type="float64">
          <value></value>
        </property>
        <property name="y" type="float64">
          <value></value>
        </property>
        <property name="z" type="float64">
          <value></value>
        </property>
        <property name="w" type="float64">
          <value></value>
        </property>
      </property>
      <property name="orientation_covariance" type="float64[9]">
        <value></value>
      </property>
      <property name="angular_velocity" type="vector3" fileName="Vector3">
        <property name="x" type="float64">
          <value></value>
        </property>
        <property name="y" type="float64">
          <value></value>
        </property>
        <property name="z" type="float64">
          <value></value>
        </property>
      </property>
      <property name="angular_velocity_covariance" type="float64[9]">
        <value></value>
      </property>
      <property name="linear_acceleration" type="vector3" fileName="Vector3">
        <property name="x" type="float64">
          <value></value>
        </property>
        <property name="y" type="float64">
          <value></value>
        </property>
        <property name="z" type="float64">
          <value></value>
        </property>
      </property>
      <property name="linear_acceleration_covariance" type="float64[9]">
        <value></value>
      </property>
    </topic>

    <param name="auto_brightness" type="bool" unit="[0/1]" description="Brightness control state">
      <value></value>
    </param>

    <param name="brightness" type="float" unit="%" description="Black level offset">
      <value></value>
    </param>

    <param name="auto_binning" type="bool" unit="[0/1]" description="Combines rectangular neighborhoods of pixels into larger 'super-pixels'">
      <value></value>
    </param>

    <param name="binning_x" type="float" unit="%" description="Binning width">
      <value></value>
    </param>

    <param name="binning_y" type="float" unit="%" description="Binning height">
      <value></value>
    </param>

    <param name="auto_contrast" type="bool" unit="[0/1]" description="Black level offset">
      <value></value>
    </param>

    <param name="contrast" type="float" unit="%" description="Difference in brightness between light and dark areas">
      <value></value>
    </param>

    <param name="auto_exposure" type="bool" unit="[0/1]" description="Combined Iris, Gain and Shutterspeed">
      <value></value>
    </param>

    <param name="exposure" type="float" unit="%" description="Exposure time">
      <value></value>
    </param>

    <param name="auto_focus" type="bool" unit="[0/1]" description="Focus control state">
      <value></value>
    </param>

    <param name="focus" type="float" unit="%" description="Definition of the image">
      <value></value>
    </param>

    <param name="auto_gain" type="bool" unit="[0/1]" description="Gain control state">
      <value></value>
    </param>

    <param name="gain" type="float" unit="%" description="Relative circuit gain">
      <value></value>
    </param>

    <param name="gain_red" type="float" unit="%" description="Gain percentage for red channel">
      <value></value>
    </param>

    <param name="gain_green" type="float" unit="%" description="Gain percentage for green channel">
      <value></value>
    </param>

    <param name="gain_blue" type="float" unit="%" description="Gain percentage for blue channel">
      <value></value>
    </param>

    <param name="auto_gamma" type="bool" unit="[0/1]" description="Gamma expansion exponent">
      <value></value>
    </param>

    <param name="gamma" type="float" unit="%" description="Gamma expansion exponent">
      <value></value>
    </param>

    <param name="auto_hue" type="bool" unit="[0/1]" description="Hue control state">
      <value></value>
    </param>

    <param name="hue" type="float" unit="%" description="Color phase">
      <value></value>
    </param>

    <param name="auto_iris" type="bool" unit="[0/1]" description="Iris control state">
      <value></value>
    </param>

    <param name="iris" type="float" unit="%" description="Iris control">
      <value></value>
    </param>

    <param name="auto_iso" type="bool" unit="[0/1]" description="ISO control state">
      <value></value>
    </param>

    <param name="iso" type="float" unit="%" description="   ISO speed: How sensitive the film is to light">
      <value></value>
    </param>

    <param name="auto_saturation" type="bool" unit="[0/1]" description="Saturation control state">
      <value></value>
    </param>

    <param name="saturation" type="float" unit="%" description="Color saturation">
      <value></value>
    </param>

    <param name="auto_sharpness" type="bool" unit="[0/1]" description="Sharpness control state">
      <value></value>
    </param>

    <param name="sharpness  " type="float" unit="%" description="Image sharpness">
      <value></value>
    </param>

    <param name="auto_shutter" type="bool" unit="[0/1]" description="Shutter control state">
      <value></value>
    </param>

    <param name="shutter" type="float" unit="%" description="Shutter speed: duration of the exposure">
      <value></value>
    </param>

    <param name="auto_white_balance" type="bool" unit="[0/1]" description="White balance control state">
      <value></value>
    </param>

    <param name="white_balance_blue" type="float" unit="%" description="Blue component of white balance">
      <value></value>
    </param>

    <param name="white_balance_red" type="float" unit="%" description="Blue component of red balance">
      <value></value>
    </param>

    <param name="auto_zoom" type="bool" unit="[0/1]" description="Zoom control state">
      <value></value>
    </param>

    <param name="username" type="string" description="Name for camera accessing. The manufacturer will offer a default username.">
      <value></value>
    </param>

    <param name="password" type="string" description="Password for camera accessing. The manufacturer will offer a default password. ">
      <value></value>
    </param>

    <param name="pan_angle_start" type="double" unit="rad" description="Related to ptz topic: pan range start point. Mandatory if ptz topic is added.">
      <value></value>
    </param>

    <param name="pan_angle_end" type="double" unit="rad" description="Related to ptz topic: pan range end point. Mandatory if ptz topic is added.">
      <value></value>
    </param>

    <param name="pan_speed" type="float" unit="rad/s" description="Related to ptz topic: pan speed. Mandatory if ptz topic is added.">
      <value></value>
    </param>

    <param name="tild_angle_start" type="double" unit="rad" description="Related to ptz topic: tild range start point. Mandatory if ptz topic is added.">
      <value></value>
    </param>

    <param name="tild_angle_end" type="double" unit="rad" description="Related to ptz topic: tild range end point. Mandatory if ptz topic is added.">
      <value></value>
    </param>

    <param name="tild_speed" type="float" unit="rad/s" description="Related to ptz topic: tild speed. Mandatory if ptz topic is added.">
      <value></value>
    </param>

    <param name="frecuency_rate" type="int" unit="Hz/s" description="Related to audio_raw topic: audio sampling frecuency. Mandatory if audio_raw topic is added.">
      <value></value>
    </param>

  </optional>

</module>