[doc] Add insta360 air camera doc

doc/index.rst

@@ -23,6 +23,7 @@ The code is open source, and `available on github`_.
    install_ensenso
    install_structure_core
    install_elp_usb_4k
+   install_insta360_air
    install_chainer_gpu
    install_pcl_from_source
    deep_learning_with_image_dataset/overview

doc/install_insta360_air.md

@@ -0,0 +1,22 @@
+# Install Insta360 Air
+
+- Insta360 Air:[https://www.insta360.com/jp/product/insta360-air](https://www.insta360.com/jp/product/insta360-air)
+- libuvc_camera: [http://wiki.ros.org/libuvc_camera](http://wiki.ros.org/libuvc_camera)
+
+![Insta360 Air](./images/insta360_air_sample.png)
+
+## Install Udev
+
+```bash
+roscd jsk_perception
+sudo cp udev/99-insta360-air.rules /etc/udev/rules.d/
+sudo service udev restart
+```
+
+## Sample
+
+```bash
+roslaunch jsk_perception sample_insta360_air.launch
+# For indigo or lower
+roslaunch jsk_perception sample_insta360_air.launch use_usb_cam:=true
+```

jsk_perception/launch/usb_cam.launch

@@ -0,0 +1,22 @@
+<launch>
+  <arg name="camera_name" />
+  <arg name="video_device" />
+  <arg name="height" />
+  <arg name="width" />
+  <arg name="video_mode" />
+  <arg name="frame_rate" />
+  <arg name="gui" default="false" />
+
+  <node pkg="usb_cam" type="usb_cam_node" name="$(arg camera_name)">
+    <rosparam subst_value="true">
+      video_device: $(arg video_device)
+      image_height: $(arg height)
+      image_width: $(arg width)
+      pixel_format: $(arg video_mode)
+      framerate: $(arg frame_rate)
+    </rosparam>
+  </node>
+
+  <node name="$(anon image_view)" pkg="image_view" type="image_view"
+        args="image:=$(arg camera_name)/image_raw" if="$(arg gui)" />
+</launch>

jsk_perception/sample/sample_insta360_air.launch

@@ -0,0 +1,34 @@
+<launch>
+  <arg name="use_usb_cam" default="false" />
+  <arg name="camera_name" default="insta360" />
+  <arg name="vendor" default="0x2e1a" />
+  <arg name="product" default="0x1000"/>
+  <arg name="width" default="3008" />
+  <arg name="height" default="1504" />
+  <arg name="video_mode" default="mjpeg" />
+  <arg name="frame_rate" default="30" />
+  <arg name="gui" default="true" />
+
+  <include unless="$(arg use_usb_cam)" file="$(find jsk_perception)/launch/libuvc_camera.launch">
+    <arg name="camera_name" value="$(arg camera_name)" />
+    <arg name="vendor" value="$(arg vendor)" />
+    <arg name="product" value="$(arg product)" />
+    <arg name="height" value="$(arg height)" />
+    <arg name="width" value="$(arg width)" />
+    <arg name="video_mode" value="$(arg video_mode)" />
+    <arg name="frame_rate" value="$(arg frame_rate)" />
+    <arg name="gui" value="$(arg gui)" />
+  </include>
+
+  <!-- For indigo or older -->
+  <include if="$(arg use_usb_cam)" file="$(find jsk_perception)/launch/usb_cam.launch">
+    <arg name="camera_name" value="$(arg camera_name)" />
+    <arg name="video_device" value="/dev/insta360" />
+    <arg name="height" value="$(arg height)" />
+    <arg name="width" value="$(arg width)" />
+    <arg name="video_mode" value="$(arg video_mode)" />
+    <arg name="frame_rate" value="$(arg frame_rate)" />
+    <arg name="gui" value="$(arg gui)" />
+  </include>
+
+</launch>

jsk_perception/udev/99-insta360-air.rules

@@ -0,0 +1,5 @@
+# For /dev/video*
+KERNEL=="video[0-9]*", SUBSYSTEM=="video4linux", ATTR{index}=="0", ATTRS{idVendor}=="2e1a", ATTRS{idProduct}=="1000", MODE="0666", SYMLINK+="insta360"
+
+# For /dev/bus/usb/*
+SUBSYSTEMS=="usb", ENV{DEVTYPE}=="usb_device", ATTRS{idVendor}=="2e1a", ATTRS{idProduct}=="1000", MODE="0666"