DGIST ARTIV Lab. Autonomous Vehicle Research Group
Original code from ros2_usb_camera@https://github.com/klintan/ros2_usb_camera
- USB CAM node for ros2 works with UVC camera (Logitech...)
- Support 4K BRIO Camera or work with over 60fps camera
Features
- Compressing image
- MJPG Format based usb cam ros publisher
/camera_info- topic for camera info/image_raw- topic for raw image data
Need to build with ROS2 Build system : Colcon
colcon build
ros2 run usb_camera_driver usb_camera_driver_node
Available parameters:
frame_id-> transform frame_id of the camera, defaults to "camera"image_width-> image width (1280 default)image_height-> image height (720 default)fps-> video fps (60 default)camera_id-> id of camera to capture (0 - 100, 0 default)
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
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/