This package captures MJPEG video stream from usb cameras. Unlike the usb_cam package, this driver copies the JPEG data to the CompressedImage message directly. There is no extra overhead from decoding and re-encoding the image. So, only compressed images are published. This driver is suitable for applications where the images are captured by a low power device (e.g. the Raspberry Pi) and sent to a remote node for further processing.
- Robot Operating System (ROS) (middleware for robotics),
- libv4l-dev (for accessing the usb camera)
sudo apt-get install libv4l-dev - v4l-utils (for changing camera settings)
sudo apt-get install v4l-utils
To build from source, clone the latest version from this repository into your catkin workspace and compile the package using catkin_make.
Run the main node with
roslaunch mjpeg_cam mjpeg_cam_run.launch
Captures video stream from a usb camera and publishes the images.
image/compressed(sensor_msgs/CompressedImage, default: "/mjpeg_cam/image/compressed')
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device_name(string, default: "/dev/video0")The name of the usb camera device.
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width(int, default: 640)The width of the image.
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height(int, default: 480)The height of the image.
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framerate(int, default: 30)The framerate of the video.
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exposure(int, default: 128)The exposure of the camera.
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brightness(int, default: 128)The brightness of the image.
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autoexposure(bool, default: true)Turns auto exposure on/off.
The exposure, brightness, and autoexposure settings are dynamically reconfigurable. Simply run rosrun rqt_reconfigure rqt_reconfigure and select the node name (default: "mjpeg_cam") to access these settings.