Overview

BATCAM FX supports ROS 2-based data transmission from firmware version v1.0.3b. The firmware includes binaries provided based on ROS 2 Humble Hawksbill.

The ROS 2 data channel operates independently from existing data channels.

BATCAM FX uses FX Stream Message type for data transmission. The message format is defined in detail in the following repository:

SMI OSS - fx-stream-msgs

These messages are defined as ROS 2 interface types and are used to publish data collected from sensors.

Precautions for Use

fx-stream-msgs is built for ROS 2 Jazzy (Ubuntu 24.04) and has been verified through data transmission testing between BATCAM FX devices.

BATCAM FX ROS 2 Message Specifications

For WsAudio, LPointAudio, and Beamforming messages, when the camera's automatic amplification is enabled, the gain value returns either the last set value or -1.
The ws, lpoint0~2 values in WsAudio and LPointAudio are float arrays of 8000 samples, formatted in IEEE 754 Float Wave Format.
From firmware v1.0.2, the bf value in the Beamforming message is in dB and requires no scale conversion.
All messages except LevelTrigger are published periodically at 25Hz (25fps) intervals.
Each camera creates the following topics based on the camera's hardware ID:
- /fx_{hardware_id}/beamforming (fx_stream_msgs/msg/Beamforming)
- /fx_{hardware_id}/image (sensor_msgs/msg/CompressedImage)
- /fx_{hardware_id}/lpoint_audio (fx_stream_msgs/msg/LPointAudio)
- /fx_{hardware_id}/ws_audio (fx_stream_msgs/msg/WsAudio)
Each camera creates the following actions based on the camera's hardware ID:
- /fx_{hardware_id}/setting_beamforming (fx_stream_msgs/msg/BeamformingSetting)
- /fx_{hardware_id}/setting_overlay (fx_stream_msgs/msg/OverlaySetting)

LevelTrigger.msg (Planned to be deprecated)

Type	Name
float64	decibel

WsAudio.msg (~850KB/s, 32.02 KB/each)

Type	Name
float64	gain
float32[]	ws

LPointAudio.msg (~2.5MB/s, 0.10 MB/each)

Type	Name
float64	gain
float32[]	lpoint0
float32[]	lpoint1
float32[]	lpoint2

Prpd.msg ( ~220B/s, 52B/each )

Type	Name
float32[3]	noise
float32[3]	corona
float32[3]	floating
float32[3]	surface

BeamformingSetting.msg (Action)

Type	Name
bool	autogain
float64	gain
float64	x_cal
float64	y_cal
float64	distance
float64	high_cut
float64	low_cut
int32	l_point_0
int32	l_point_1
int32	l_point_2

Beamforming.msg (~250KB/s, 9.84 KB/each)

Type	Name
float64	gain
float64[]	bf
float64[]	level
int32[]	param1
int32[]	param2
int32[]	theta
int32[]	pos_x
int32[]	pos_y
int32[]	v_pos_x
int32[]	v_pos_y

OverlaySetting.msg (Action)

Type	Name
bool	enable_overlay
bool	enable_source_mode
int32	number_of_sources
int32	average
float64	threshold
float64	range

BATCAM FX ROS 2 Action Specifications

BeamformingSetting.action

Goal

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Result

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