GSCam

This is a ROS2 package originally developed by the Brown Robotics Lab for broadcasting any GStreamer video stream via image transport.

GStreamer Library Support

GSCam supports the following versions of ROS2 and GStreamer:

Dependencies

These dependencies will be picked up by rosdep and are required to compile:

• libgstreamer1.0-dev
• libgstreamer-plugins-base1.0-dev

These additional packages are often useful:

• gstreamer1.0-tools
• libgstreamer-plugins-good1.0-dev

Ubuntu install:

sudo apt-get install gstreamer1.0-tools libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libgstreamer-plugins-good1.0-dev

License

GSCam for ROS2 is licensed under the Apache 2 license.

Note that GStreamer is licensed under the LGPL, and GStreamer plugins have their own license requirements.

API

Nodes

• gscam

Topics

• camera/image_raw
• camera/camera_info

Services

• camera/set_camera_info

Parameters

• camera_name: The name of the camera (corrsponding to the camera info)
• camera_info_url: A url (file://path/to/file, package://pkg_name/path/to/file) to the camera calibration file
• gscam_config: The GStreamer configuration string
• frame_id: The tf2 frame ID
• reopen_on_eof: Re-open the stream if it ends (EOF)
• sync_sink: Synchronize the app sink (sometimes setting this to false can resolve problems with sub-par framerates)
• use_gst_timestamps: Use the GStreamer buffer timestamps for the image message header timestamps (setting this to false results in header timestamps being the time that the image buffer transfer is completed)
• image_encoding: image encoding (“rgb8”, “mono8”, “yuv422”, “jpeg”)
• use_sensor_data_qos: The flag to use sensor data qos for camera topic(image, camera_info)

Examples

See example launch files and configs in the examples directory.

These examples have been tested and work well:

• v4l.launch.xml: Standard video4linux cameras like USB webcams
• v4ljpeg.launch.xml: Same as above, but publishes compressed images
• videofile.launch.xml: Opens any videofile readable by GStreamer
• component_pipeline_launch.py: Launch an image pipeline using ROS2 composition

Changelog for package gscam

2.0.2 (2022-06-16)

• Update ROS2, Ubuntu and GStreamer versions (#85)
• fix: ros2 gstreamer timestamps (#83)
  • fix: correct gstreamer timestamp offset calculation for image header timestamp
  • docs: add use_gst_timestamps parameter to the readme file
• ci: update docker image for latest ros distribution (#81)
  • ci: update docker image of rolling
  • ci: add humble distribution
  • ci: add workaround for jammy
• Contributors: Clyde McQueen, Daisuke Nishimatsu, David Wong

2.0.1 (2022-02-28)

• feat: add yuv support (#78)

  • feat: add yuv support
  • docs: add parameter description about image encodings

• feat: add option to use sensor data qos (#79)

  • feat: add option to use sensor data qos
  • docs: add description about the new flag

• Improve Dockerfile (#77)

  • Use COPY instead of git clone

  * Copy source into gscam Co-authored-by: Daisuke Nishimatsu <<42202095+wep21@users.noreply.github.com>>

  * Small fixes Co-authored-by: Daisuke Nishimatsu <<42202095+wep21@users.noreply.github.com>>

• Merge pull request #76 from clydemcqueen/ros2 Fix uninitialized variable, adding more CI / test infrastructure.

• Merge pull request #9 from clydemcqueen/clyde_fixes Several fixes

• feat: add Dockerfile

• chore: support multiple CLion build envs

• fix: initialize variable

• Contributors: Clyde McQueen, Daisuke Nishimatsu, Jonathan Bohren

2.0.0 (2022-02-13)

• fix: fix test dependency in package.xml
• Add note on testing and examples
• Update README
• chore: fix for uncrustify
• fix: fix smoke test
• chore: fix copyright
• chore: fix flake8
• chore: fix pep257
• chore: fix lint_cmake
• chore: fix cpplint
• chore: change license
• chore: apply uncrustify
• chore: add linter dependencies
• chore: simplify parameter declaration
• adding explicit parameter types to string parameters
• Add smoke test
• Break deadlock for a clean exit
• fix: fix legacy group namespace
• chore: install examples directory
• fix: fix launch extension
• fix: fix launch executable name
• feat: create node exe from rclcpp components
• Update README
• Remove extra files, rename .h to .hpp
• Configure once, avoids re-declaring parameters
• Port launch files to ros2
• Remove support for gstreamer-0.10
• Use Github Actions and ros-tooling for CI
• Remove deprecation warnings, clean up includes
• Fixed crash in GStreamer 1.16.2, works on Foxy
• Minimal ROS2 port, works in Eloquent
• Contributors: Clyde McQueen, Jonathan Bohren, wep21

1.0.1 (2018-09-06)

• Merge pull request #52 from k-okada/add_travis update travis.yml

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