Awesome Open Source
Awesome Open Source

ROS2 USB Camera Node

Its based on both the image_tools cam2image demos for ROS2 as well as the libuvc and usb_cam project for ROS1.

Features

  • CameraInfo available
  • CompressedImage topic (see compressed images for republishing using image_transport)
  • Image topic

There might be major changes to the code as it is a WIP.

Topics

/camera_info - topic for camera info /image_raw - topic for raw image data

Installation

Make sure to run setup.bash and local_setup.bash for all dependencies or symlink them into the repo.

Run

colcon build

Usage

ros2 run usb_camera usb_camera __ns:=/<your namespace> __params:=config.yaml

Calibration files

To use the camera info functionality you need to load a file from the camera_calibration (https://github.com/ros-perception/image_pipeline/tree/ros2/camera_calibration) library and put it in/name it file:///Users/<youruser>/.ros/camera_info/camera.yaml

Compressed images

To get compressed images (works seamlessly with web streaming) republish the topic using image_transport which is available for ROS2.

ros2 run image_transport republish raw in:=image_raw compressed out:=image_raw_compressed

Make sure to link/install https://github.com/ros-perception/image_transport_plugins/tree/ros2 before to enable compressed image republishing using image_transport since its not included in the base package. More information here http://wiki.ros.org/image_transport, here http://wiki.ros.org/compressed_image_transport and here https://answers.ros.org/question/35183/compressed-image-to-image/

References

https://github.com/ros-perception/vision_opencv/tree/ros2


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