GSCam

This is a ROS package originally developed by the Brown Robotics Lab for broadcasting any GStreamer-based video stream via the standard ROS Camera API. This fork has several fixes incorporated into it to make it broadcast correct sensor_msgs/Image messages with proper frames and timestamps. It also allows for more ROS-like configuration and more control over the GStreamer interface.

Note that this pacakge can be built both in a rosbuild and catkin workspaces.

GStreamer Library Support

gscam supports the following versions of GStreamer

0.1.x: Default

Install dependencies via rosdep.

1.0.x: Experimental

Dependencies:

• gstreamer1.0-tools
• libgstreamer1.0-dev
• libgstreamer-plugins-base1.0-dev
• libgstreamer-plugins-good1.0-dev

Ubuntu Install:

12.04

sudo add-apt-repository ppa:gstreamer-developers/ppa
sudo apt-get install gstreamer1.0-tools libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libgstreamer-plugins-good1.0-dev

14.04

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

Usage:

• Use the CMake flag -DGSTREAMER_VERSION_1_x=On when building
• See the Video4Linux2 launchfile example for an example of the differences in the GStreamer config lines

Notes:

• This has been tested with v4l2src

ROS API (stable)

gscam

This can be run as both a node and a nodelet.

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 TF 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).

C++ API (unstable)

The gscam c++ library can be used, but it is not guaranteed to be stable.

Examples

See example launchfiles and configs in the examples directory. Currently there are examples for:

• Video4Linux2: Standard video4linux-based cameras like USB webcams.
  • GST-1.0: Use the roslaunch argument GST10:=True for GStreamer 1.0 variant
• Nodelet: Run a V4L-based camera in a nodelet
• Video File: Any videofile readable by GStreamer
• DeckLink: BlackMagic DeckLink SDI capture cards (note: this requires the gst-plugins-bad plugins)

Changelog for package gscam

1.0.1 (2018-09-06)

• Merge pull request #52 from k-okada/add_travis update travis.yml
• Update README.md gscam -> GSCam
• update travis.yml
• Merge pull request #40 from ros-drivers/mikaelarguedas-patch-1 update to use non deprecated pluginlib macro
• update to use non deprecated pluginlib macro
• Contributors: Kei Okada, Mikael Arguedas

1.0.0 (2017-06-13)

• Gstreamer 1 0 support (#36 )
  • delete unused manifest.xml, rosdep.yaml
  • use libgstreamer1.0 for lunar
  • Fixing preproc switches so that the 1.0 branch still builds against 0.1 without the switch flags
  • Preliminary GStreamer-1.0 support see README for more info
• Contributors: Jonathan Bohren, Kei Okada

0.2.0 (2017-06-13)

• add ROS Orphaned Package Maintainers to maintainer tag (#35 )
• gscam_nodelet.h: include scoped_ptr.hpp to compile with boost 1.57 When compiling gscam with the currently latest boost version 1.57, it fails with: In file included from [...]/src/gscam_nodelet.cpp:5:0: [...]/include/gscam/gscam_nodelet.h:20:12: error: 'scoped_ptr' in namespace 'boost' does not name a template type boost::scoped_ptr<GSCam> gscam_driver_; \^ [...]/include/gscam/gscam_nodelet.h:21:12: error: 'scoped_ptr' in namespace 'boost' does not name a template type boost::scoped_ptr<boost::thread> stream_thread_; \^ It seems that the dependencies of boost/thread.hpp have changed and boost/scoped_ptr.hpp is not included anymore with boost/thread.hpp. Hence, the scoped_ptr is not defined in the gscam_nodelet header. After scanning quickly through the release notes of version 1.57, the boost bug tracker and a few changesets, I could not find not a hint what has changed in the thread library that gscam must include scoped_ptr itself. This commit simply addresses the compiler error by explicitly adding boost's scoped_ptr header in the gscam_nodelet header. As this commit also compiles with boost version 1.56, the commit is not expected to cause any problems with other build configurations. Signed-off-by: Lukas Bulwahn <<lukas.bulwahn@oss.bmw-carit.de>>
• Remove dependency on opencv2 to fix under indigo Packages can no longer depend on opencv2 as of indigo. I've updated the package to depend instead on cv_bridge as suggested by http://wiki.ros.org/indigo/Migration#OpenCV.
• Install the parameters file refered to in v4l.launch
• Update package.xml
• Examples: Added example for OSX (#15) Add a simple launch configuration for OSX. The camera can be selected by changing the default="0" to the appropriate integer.
• Adding libraries to gscam target Fixes #13, now builds on stricter linkers
• adding proper depends to catkin package call
• Update minoru.launch
• Contributors: CHILI Demo Corner, Jonathan Bohren, Kei Okada, Kenn Sebesta, Lukas Bulwahn, Russell Toris, Lukas Bulwahn

0.1.3 (2013-12-19)

• Removed special characters from changelog.

0.1.2 (2013-12-19)

• Added install targets for headers
• Adding note on blackmagic decklink cards
• Make sure nodelets are usable
• Add jpeg direct publishing without decoding
• Added system to use GST timestamps
• Valid test file for jpeg-based publisher
• Prepared for jpeg-only subscription
• Install some launch files + added nodelet pipeline demo
• Added missing bits to install the nodelet
• Support for gray (mono8) cameras.
• Remove unused bpp_ member.
• Expose default settings for image_encodings to the ros master.
• Add in support for mono cameras.
• Contributors: Cedric Pradalier, Holger Rapp, Jonathan Bohren, Russell Toris, Severin Lemaignan

0.1.1 (2013-05-30)

• adding missing nodelet dep
• Contributors: Jonathan Bohren

0.1.0 (2013-05-28)

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