hikmicro_driver

ROS Noetic driver for the HIKMICRO HM-TD5567T bi-spectrum (thermal + visible) PTZ camera — precise pan/tilt/zoom that tells you when it has arrived, presets, auxiliaries, RTSP images and temperatures in °C at any pixel.

---

Move to a position and know when the camera is really there, save and call presets, switch the light, wiper and day/night, read temperatures from the radiometric image and watch both sensors. All over Ethernet: ISAPI (HTTP, digest authentication) for control and thermometry, RTSP for video.

Docs: ISAPI summary · network setup · first run on the camera · troubleshooting · messages

Package
hikmicro_msgs	messages, services and the MoveTo / GotoPreset actions
hikmicro_driver	the ISAPI client (no ROS), hikmicro_ptz_node, hikmicro_camera_node

Quick start

mkdir -p ~/catkin_ws/src && cd ~/catkin_ws/src
git clone https://github.com/DarmawanRobotics/hikmicro_driver.git
cd ~/catkin_ws
rosdep update --rosdistro noetic --include-eol-distros
rosdep install --from-paths src --ignore-src -y --rosdistro noetic
catkin_make && source devel/setup.bash

export HIKMICRO_PASSWORD='<camera password>'        # never printed by roslaunch
roslaunch hikmicro_driver hikmicro.launch host:=192.168.1.64   # cameras:=false for control only

The camera's factory address is 192.168.1.64 (user admin): give the robot computer an address in 192.168.1.x and check with curl --digest -u admin:<password> http://192.168.1.64/ISAPI/System/deviceInfo.

Interface

Everything under /hikmicro.

Name	Type
ptz/move_to	action MoveTo	absolute pan / tilt / zoom; succeeds only when the camera has arrived
ptz/goto_preset	action GotoPreset	call a preset, same arrival check
ptz/state	PtzState	connected, pan, tilt, zoom, moving
joint_states	sensor_msgs/JointState	pan / tilt joints
ptz/cmd_vel (in)	geometry_msgs/Twist	manual: angular.z pan, angular.y tilt, linear.z zoom
thermal/temperature	sensor_msgs/Image	32FC1, °C per pixel
thermal/stats	ThermalStats	frame max / min / mean and where
visible/image_raw, thermal/image_raw	sensor_msgs/Image	the two video streams
ptz/stop, ptz/focus	std_srvs/Trigger	stop motion, one-push autofocus
ptz/set_preset, ptz/remove_preset, ptz/get_presets	services	presets
aux/light, aux/wiper, aux/set	services	auxiliaries
image/day_night	SetDayNight	auto / day / night
snapshot	Snapshot	full-resolution JPEG, visible or thermal
thermal/get_temperature	GetTemperature	°C at a point, in a box or over the frame
isapi/request	RawRequest	any other ISAPI call

move_to states: reached · stalled (still, outside tolerance) · timeout · preempted · superseded · error. Only reached succeeds.

Usage

# move and wait
rostopic pub -1 /hikmicro/ptz/move_to/goal hikmicro_msgs/MoveToActionGoal \
  "{goal: {pan: 123.4, tilt: -12.5, zoom: 8.0}}"
rostopic echo -n 1 /hikmicro/ptz/move_to/result

# presets, light, day/night
rosservice call /hikmicro/ptz/set_preset "{id: 3, name: 'point 3'}"
rosservice call /hikmicro/aux/light "data: true"
rosservice call /hikmicro/image/day_night "mode: 'night'"

# temperature in a box (thermal pixels)
rosservice call /hikmicro/thermal/get_temperature "{mode: 1, x: 300, y: 200, x2: 360, y2: 260}"

import actionlib, rospy
from hikmicro_msgs.msg import MoveToAction, MoveToGoal
from hikmicro_msgs.srv import GetTemperature

rospy.init_node('thermal_inspection')
move = actionlib.SimpleActionClient('/hikmicro/ptz/move_to', MoveToAction)
move.wait_for_server()
temperature = rospy.ServiceProxy('/hikmicro/thermal/get_temperature', GetTemperature)

move.send_goal_and_wait(MoveToGoal(pan=123.4, tilt=-12.5, zoom=8.0))
if move.get_result().reached:
    t = temperature(mode=1, x=300, y=200, x2=360, y2=260, max_age=0.5)
    rospy.loginfo('max %.1f C', t.stats.max)

Parameters are commented in hikmicro.yaml and camera.yaml.

Verify on the real camera

1. ptz/state shows connected: True; the log shows model, firmware and high_precision.
2. Note which way pan / tilt turn and set pan_sign / tilt_sign and invert_*.
3. A far move ends reached; a move past the tilt limit ends stalled or error.
4. aux/light / aux/wiper switch the right device (else set light_aux_id / wiper_aux_id).
5. A hand in front of the lens reads 30–36 °C with get_temperature.

Develop

catkin_make run_tests && catkin_test_results build/test_results
bash src/hikmicro_driver/hikmicro_driver/test/smoke_test.sh

Unit tests cover the ISAPI messages, radiometric decoding, arrival detection, RTSP and the client against a fake camera; the smoke test runs the launch file against it. CI runs both on ros:noetic.

Released under the Apache License 2.0.