shinkansan / ros2_logitech_brio_publisher

ROS2 USB Camera node

USB CAM ROS2 Node

DGIST ARTIV Lab. Autonomous Vehicle Research Group

Original code from ros2_usb_camera@https://github.com/klintan/ros2_usb_camera

this fork version has distinct feature from original version

• 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

Topics

• /camera_info - topic for camera info
• /image_raw - topic for raw image data

Installation

Need to build with ROS2 Build system : Colcon colcon build

Usage

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)

Calibration files

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

Compressed images

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

Dependencies

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/