Add option to turn off packet resend

pointgrey_camera_driver/include/pointgrey_camera_driver/PointGreyCamera.h

@@ -144,7 +144,7 @@ class PointGreyCamera
   * \param auto_packet_size Flag stating if packet size should be automatically determined or not.
   * \param packet_size The packet size value to use if auto_packet_size is false.
   */
-  void setGigEParameters(bool auto_packet_size, unsigned int packet_size, unsigned int packet_delay);
+  void setGigEParameters(bool auto_packet_size, unsigned int packet_size, unsigned int packet_delay, bool packet_resend);
 
   std::vector<uint32_t> getAttachedCameras();
 
@@ -193,6 +193,9 @@ class PointGreyCamera
   unsigned int packet_size_;
   /// GigE packet delay:
   unsigned int packet_delay_;
+  /// If true, GigE packet resend is enabled:
+  bool packet_resend_;
+
 
   /*!
   * \brief Changes the video mode of the connected camera.
@@ -343,6 +346,17 @@ class PointGreyCamera
   */
   void setupGigEPacketDelay(FlyCapture2::PGRGuid & guid, unsigned int packet_delay);
 
+  /*!
+  * \brief Will configure the packet resend option of the GigECamera with the given GUID to the given value.
+  *
+  * Note that this is expected only to work for GigE cameras, and only if the camera
+  * is not connected.
+  *
+  * \param guid the camera to autoconfigure
+  * \param packet_resend Use packet resend option.
+  */
+  void setupGigEPacketResend(FlyCapture2::PGRGuid & guid, bool packet_resend);
+
 public:
   /*!
   * \brief Handles errors returned by FlyCapture2.

pointgrey_camera_driver/launch/camera.launch

@@ -4,6 +4,7 @@
   <arg name="camera_name" default="camera" />
   <arg name="camera_serial" default="0" />
   <arg name="calibrated" default="0" />
+  <arg name="packet_resend" default="true" />
 
   <group ns="$(arg camera_name)">
     <node pkg="nodelet" type="nodelet" name="camera_nodelet_manager" args="manager" />
@@ -12,6 +13,7 @@
           args="load pointgrey_camera_driver/PointGreyCameraNodelet camera_nodelet_manager" >
       <param name="frame_id" value="camera" />
       <param name="serial" value="$(arg camera_serial)" />
+      <param name="packet_resend" value="$(arg packet_resend)" />
 
       <!-- When unspecified, the driver will use the default framerate as given by the
            camera itself. Use this parameter to override that value for cameras capable of

pointgrey_camera_driver/src/PointGreyCamera.cpp

@@ -819,11 +819,12 @@ bool PointGreyCamera::setExternalTrigger(bool &enable, std::string &mode, std::s
   return retVal;
 }
 
-void PointGreyCamera::setGigEParameters(bool auto_packet_size, unsigned int packet_size, unsigned int packet_delay)
+void PointGreyCamera::setGigEParameters(bool auto_packet_size, unsigned int packet_size, unsigned int packet_delay, bool packet_resend)
 {
   auto_packet_size_ = auto_packet_size;
   packet_size_ = packet_size;
   packet_delay_ = packet_delay;
+  packet_resend_ = packet_resend;
 }
 
 void PointGreyCamera::setupGigEPacketSize(PGRGuid & guid)
@@ -870,6 +871,20 @@ void PointGreyCamera::setupGigEPacketDelay(PGRGuid & guid, unsigned int packet_d
   PointGreyCamera::handleError("PointGreyCamera::connect could not set GigE packet_delay", error);
 }
 
+void PointGreyCamera::setupGigEPacketResend(PGRGuid & guid, bool packet_resend)
+{
+  GigECamera cam;
+  Error error;
+  error = cam.Connect(&guid);
+  PointGreyCamera::handleError("PointGreyCamera::connect could not connect as GigE camera", error);
+  GigEConfig gigeconfig;
+  error = cam.GetGigEConfig(&gigeconfig);
+  PointGreyCamera::handleError("PointGreyCamera::GetGigEConfig could not get GigE setting", error);
+  gigeconfig.enablePacketResend = packet_resend;
+  error = cam.SetGigEConfig(&gigeconfig);
+  PointGreyCamera::handleError("PointGreyCamera::SetGigEConfig could not set GigE settings (packet resend)", error);
+}
+
 void PointGreyCamera::connect()
 {
   if(!cam_.IsConnected())
@@ -905,16 +920,7 @@ void PointGreyCamera::connect()
         setupGigEPacketDelay(guid, packet_delay_);
 
         // Enable packet resend
-        GigECamera cam;
-        Error error;
-        error = cam.Connect(&guid);
-        PointGreyCamera::handleError("PointGreyCamera::connect could not connect as GigE camera", error);
-        GigEConfig gigeconfig;
-        error = cam.GetGigEConfig(&gigeconfig);
-        PointGreyCamera::handleError("PointGreyCamera::GetGigEConfig could not get GigE setting", error);
-        gigeconfig.enablePacketResend = true;
-        error = cam.SetGigEConfig(&gigeconfig);
-        PointGreyCamera::handleError("PointGreyCamera::SetGigEConfig could not set GigE settings (packet resend)", error);
+        setupGigEPacketResend(guid, packet_resend_);
     }
 
     error = cam_.Connect(&guid);

pointgrey_camera_driver/src/nodelet.cpp

@@ -259,9 +259,10 @@ class PointGreyCameraNodelet: public nodelet::Nodelet
     pnh.param<int>("packet_size", packet_size_, 1400);
     pnh.param<bool>("auto_packet_size", auto_packet_size_, true);
     pnh.param<int>("packet_delay", packet_delay_, 4000);
+    pnh.param<bool>("packet_resend", packet_resend_, true);
 
     // Set GigE parameters:
-    pg_.setGigEParameters(auto_packet_size_, packet_size_, packet_delay_);
+    pg_.setGigEParameters(auto_packet_size_, packet_size_, packet_delay_, packet_resend_);
 
     // Get the location of our camera config yaml
     std::string camera_info_url;
@@ -600,6 +601,9 @@ class PointGreyCameraNodelet: public nodelet::Nodelet
   int packet_size_;
   /// GigE packet delay:
   int packet_delay_;
+  /// If true, GigE packet resend is enabled:
+  bool packet_resend_;
+
 
   /// Configuration:
   pointgrey_camera_driver::PointGreyConfig config_;