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/