OFP-TR / zbar_ros

Lightweight ROS wrapper for zbar barcode/qrcode reader library (http://zbar.sourceforge.net/)

README

Basic ROS2 wrapper for the zbar (http://zbar.sourceforge.net/) barcode reader library. Reads image stream from image topic, and outputs detected barcodes to barcode topic. Works with 1D and 2D barcodes.

Install Dependencies

To install the dependencies, run:

rosdep install --from-paths src --ignore-src -r -y

If you see sudo: rosdep: command not found, install rosdep first and rerun the command above.

Build zbar_ros

In your workspace, run:

colcon build

Running barcode_reader node

You have to source your workspace, then run the node. In your workspace, run:

. install/local_setup.bash
ros2 run zbar_ros barcode_reader

Topics

Subscriptions:

• image (sensor_msgs/msg/Image.msg)

Publisher:

• barcode (std_msgs/msg/String.msg)

(Optional) Debugging the barcode_reader node

To debug whether the node is

• receiving msgs on image
• detecting your 1d or 2d QT code
• publishing the result on barcode

run with debug logging enabled as below:

ros2 run zbar_ros barcode_reader --ros-args --log-level DEBUG