A simple ROS2 publisher, using OpenCV to capture a frame from the camera and publish. This is a bare bones implimentation. It does not do any camera calibration or other advanced stuff. It just works.
Has been tested on a with Ubuntu 22.04.1 LTS and ROS Humble.
In order to take a picture, a simple service definition is needed. Please install Camera Lite Interfaces
MAKE SURE YOUR CAMERA HAS BEEN ENABLED. (Out of scope for write-up)
Install OpenCV
sudo apt update
sudo apt install libopencv-dev python3-opencv
Install the ROS - OpenCV Bridge and the vision library
sudo apt-get install ros-humble-cv-bridge
sudo apt-get install ros-humble-vision-opencv
Clone this repo into the src directory of your ROS2 workspace. See the ros2 tutorial on how to create a workspace.
git clone https://github.com/DevWalrus/camera_lite.git
Back in the root of your ROS workspace, build and install the package.
colcon build --packages-select camera_lite
. install/setup.bash
Run the camera node. To test with image_tools the topic has to be remapped to /image
ros2 run camera_lite camera_node --ros-args --remap /camera/image_raw:=/image
Run image_tools showimage to see the camera output.
ros2 run image_tools showimage
To run both the camera node, and the service to take a picture use the provided launch file. Note the parameters in the launch file states the resolutions 640x380. You can change this to a resolution supported by your camera and application.
ros2 launch camera.launch.py
Take a picture using this service call
ros2 service call /camera/save_picture camera_lite_interfaces/srv/Save "{name: /home/ubuntu/test.jpg}"