GoProROS

A simple ROS wrapper for publishing images from a GoPRO. To start off, you will need to install the gopro webcam cli to trigger the GoPro into webcam mode:

GoPro Webcam cli tool

sudo apt-get install v4l-utils
sudo apt install ffmpeg v4l2loopback-dkms curl vlc
git submodule update --init --recursive
cd src/gopro_as_webcam_on_linux
sudo ./install.sh
sudo gopro webcam

To run the GoPro as a standard webcam (i.e with zoom/opencv) you can run ffmpeg -nostdin -threads 1 -i 'udp://@0.0.0.0:8554?overrun_nonfatal=1&fifo_size=50000000' -f:v mpegts -fflags nobuffer -vf format=yuv420p -f v4l2 /dev/video42 With this in place, we can proceed to running the ROS node for publishing the images from the GoPro. Be sure to not be using the GoPro in any other software (zoom/opencv/meets/etc...).

ROS GoPro Package

Adding the Package to Your Workspace and Building It

First, add the GoProROS package to your workspace:

cd ~/your_workspace/src
git clone https://github.com/your_username/GoProROS.git

Then, build the package using colcon:

cd ~/your_workspace
colcon build --packages-select GoProROS

Running the GoPro Node

Source your workspace and run the GoPro node:

source ~/your_workspace/install/setup.bash
ros2 run gopro_ros gopro_ros

Make sure you have the GoPro running in webcam mode before running the node. The node will publish the images from the GoPro to the /gopro/image_raw topic. You can view the images using the rqt_image_view tool:

ros2 run rqt_image_view rqt_image_view

Alternatively, you can visualize this topic in rviz2.