No version for distro humble showing kinetic. Known supported distros are highlighted in the buttons above.

usb_cam_hardware repository

usb_cam_controllers usb_cam_hardware usb_cam_hardware_interface

ROS Distro
kinetic

Repository Summary

Checkout URI	https://github.com/yoshito-n-students/usb_cam_hardware.git
VCS Type	git
VCS Version	kinetic-devel
Last Updated	2020-07-12
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
usb_cam_controllers	0.0.6
usb_cam_hardware	0.0.6
usb_cam_hardware_interface	0.0.6

README

usb_cam_hardware

USB camera driver based on ros_control

Slides from ROS Japan UG #28 (in Japanese)

Nodelet: usb_cam_hardware/USBCamHardware

An USB camera driver which is almost compatible to usb_cam but based on ros_control. Major enhancements over usb_cam are;

impremented as a nodelet
supports h264 pixel format (1/10 network usage compared with mjpeg)
publishes raw packets from the camera (1/10 cpu usage and less latency compared with decoding mjpeg packets in the node)
accepts 3rd party controllers

Published topics

depends on controllers

Parameters

~video_device (string, default: “/dev/video0”)

~image_width (int, default: 640)

~image_height (int, default: 480)

~pixel_format (string, default: “mjpeg”)

Possible values are mjpeg, h264, rgb24, yuyv, uyvy

~framerate (int, default: 30)

Controllers

All topics and parameters are defined in each controller’s namespace
See example launch files to find how to use controllers

CameraInfoController

publishes camera information syncronized to packets from the camera

Published topics

camera_info (sensor_msgs/CameraInfo)

Parameters

camera_frame_id (string, default: “head_camera”)

camera_info_url (string, default: “”)

camera_name (string, default: “head_camera”)

PacketController

publishes raw packets from the camera as images

Published topics

image (sensor_msgs/Image)

Parameters

image_width (int, default: 640)

image_height (int, default: 480)

encoding (string, default: “bgr8”)

value of Image::encoding

skip (int, default: 0)

number of packets skipped after publishment
useful to throttle network usage

CompressedPacketController

publishes raw packets from the camera as compressed images

Published topics

packet (sensor_msgs/CompressedImage)

Parameters

format (string, default: “jpeg”)

value of CompressedImage::format

skip (int, default: 0)

number of packets skipped after publishment
useful to throttle network usage

MjpegController

decodes mjpeg-compressed packets and publishes decoded images

Published topics

image (sensor_msgs/Image)

H264Controller

decodes h264-compressed packets and publishes decoded images

Published topics

image (sensor_msgs/Image)

RGB24Controller

converts rgb-formatted packets to bgr images and publishes them

Published topics

image (sensor_msgs/Image)

Parameters

image_width (int, default: 640)

image_height (int, default: 480)

UYVYController

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro jazzy showing kinetic. Known supported distros are highlighted in the buttons above.

usb_cam_hardware repository

usb_cam_controllers usb_cam_hardware usb_cam_hardware_interface

ROS Distro
kinetic

Repository Summary

Checkout URI	https://github.com/yoshito-n-students/usb_cam_hardware.git
VCS Type	git
VCS Version	kinetic-devel
Last Updated	2020-07-12
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
usb_cam_controllers	0.0.6
usb_cam_hardware	0.0.6
usb_cam_hardware_interface	0.0.6

README

usb_cam_hardware

USB camera driver based on ros_control

Slides from ROS Japan UG #28 (in Japanese)

Nodelet: usb_cam_hardware/USBCamHardware

An USB camera driver which is almost compatible to usb_cam but based on ros_control. Major enhancements over usb_cam are;

impremented as a nodelet
supports h264 pixel format (1/10 network usage compared with mjpeg)
publishes raw packets from the camera (1/10 cpu usage and less latency compared with decoding mjpeg packets in the node)
accepts 3rd party controllers

Published topics

depends on controllers

Parameters

~video_device (string, default: “/dev/video0”)

~image_width (int, default: 640)

~image_height (int, default: 480)

~pixel_format (string, default: “mjpeg”)

Possible values are mjpeg, h264, rgb24, yuyv, uyvy

~framerate (int, default: 30)

Controllers

All topics and parameters are defined in each controller’s namespace
See example launch files to find how to use controllers

CameraInfoController

publishes camera information syncronized to packets from the camera

Published topics

camera_info (sensor_msgs/CameraInfo)

Parameters

camera_frame_id (string, default: “head_camera”)

camera_info_url (string, default: “”)

camera_name (string, default: “head_camera”)

PacketController

publishes raw packets from the camera as images

Published topics

image (sensor_msgs/Image)

Parameters

image_width (int, default: 640)

image_height (int, default: 480)

encoding (string, default: “bgr8”)

value of Image::encoding

skip (int, default: 0)

number of packets skipped after publishment
useful to throttle network usage

CompressedPacketController

publishes raw packets from the camera as compressed images

Published topics

packet (sensor_msgs/CompressedImage)

Parameters

format (string, default: “jpeg”)

value of CompressedImage::format

skip (int, default: 0)

number of packets skipped after publishment
useful to throttle network usage

MjpegController

decodes mjpeg-compressed packets and publishes decoded images

Published topics

image (sensor_msgs/Image)

H264Controller

decodes h264-compressed packets and publishes decoded images

Published topics

image (sensor_msgs/Image)

RGB24Controller

converts rgb-formatted packets to bgr images and publishes them

Published topics

image (sensor_msgs/Image)

Parameters

image_width (int, default: 640)

image_height (int, default: 480)

UYVYController

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro kilted showing kinetic. Known supported distros are highlighted in the buttons above.

usb_cam_hardware repository

usb_cam_controllers usb_cam_hardware usb_cam_hardware_interface

ROS Distro
kinetic

Repository Summary

Checkout URI	https://github.com/yoshito-n-students/usb_cam_hardware.git
VCS Type	git
VCS Version	kinetic-devel
Last Updated	2020-07-12
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
usb_cam_controllers	0.0.6
usb_cam_hardware	0.0.6
usb_cam_hardware_interface	0.0.6

README

usb_cam_hardware

USB camera driver based on ros_control

Slides from ROS Japan UG #28 (in Japanese)

Nodelet: usb_cam_hardware/USBCamHardware

An USB camera driver which is almost compatible to usb_cam but based on ros_control. Major enhancements over usb_cam are;

impremented as a nodelet
supports h264 pixel format (1/10 network usage compared with mjpeg)
publishes raw packets from the camera (1/10 cpu usage and less latency compared with decoding mjpeg packets in the node)
accepts 3rd party controllers

Published topics

depends on controllers

Parameters

~video_device (string, default: “/dev/video0”)

~image_width (int, default: 640)

~image_height (int, default: 480)

~pixel_format (string, default: “mjpeg”)

Possible values are mjpeg, h264, rgb24, yuyv, uyvy

~framerate (int, default: 30)

Controllers

All topics and parameters are defined in each controller’s namespace
See example launch files to find how to use controllers

CameraInfoController

publishes camera information syncronized to packets from the camera

Published topics

camera_info (sensor_msgs/CameraInfo)

Parameters

camera_frame_id (string, default: “head_camera”)

camera_info_url (string, default: “”)

camera_name (string, default: “head_camera”)

PacketController

publishes raw packets from the camera as images

Published topics

image (sensor_msgs/Image)

Parameters

image_width (int, default: 640)

image_height (int, default: 480)

encoding (string, default: “bgr8”)

value of Image::encoding

skip (int, default: 0)

number of packets skipped after publishment
useful to throttle network usage

CompressedPacketController

publishes raw packets from the camera as compressed images

Published topics

packet (sensor_msgs/CompressedImage)

Parameters

format (string, default: “jpeg”)

value of CompressedImage::format

skip (int, default: 0)

number of packets skipped after publishment
useful to throttle network usage

MjpegController

decodes mjpeg-compressed packets and publishes decoded images

Published topics

image (sensor_msgs/Image)

H264Controller

decodes h264-compressed packets and publishes decoded images

Published topics

image (sensor_msgs/Image)

RGB24Controller

converts rgb-formatted packets to bgr images and publishes them

Published topics

image (sensor_msgs/Image)

Parameters

image_width (int, default: 640)

image_height (int, default: 480)

UYVYController

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro rolling showing kinetic. Known supported distros are highlighted in the buttons above.

usb_cam_hardware repository

usb_cam_controllers usb_cam_hardware usb_cam_hardware_interface

ROS Distro
kinetic

Repository Summary

Checkout URI	https://github.com/yoshito-n-students/usb_cam_hardware.git
VCS Type	git
VCS Version	kinetic-devel
Last Updated	2020-07-12
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
usb_cam_controllers	0.0.6
usb_cam_hardware	0.0.6
usb_cam_hardware_interface	0.0.6

README

usb_cam_hardware

USB camera driver based on ros_control

Slides from ROS Japan UG #28 (in Japanese)

Nodelet: usb_cam_hardware/USBCamHardware

An USB camera driver which is almost compatible to usb_cam but based on ros_control. Major enhancements over usb_cam are;

impremented as a nodelet
supports h264 pixel format (1/10 network usage compared with mjpeg)
publishes raw packets from the camera (1/10 cpu usage and less latency compared with decoding mjpeg packets in the node)
accepts 3rd party controllers

Published topics

depends on controllers

Parameters

~video_device (string, default: “/dev/video0”)

~image_width (int, default: 640)

~image_height (int, default: 480)

~pixel_format (string, default: “mjpeg”)

Possible values are mjpeg, h264, rgb24, yuyv, uyvy

~framerate (int, default: 30)

Controllers

All topics and parameters are defined in each controller’s namespace
See example launch files to find how to use controllers

CameraInfoController

publishes camera information syncronized to packets from the camera

Published topics

camera_info (sensor_msgs/CameraInfo)

Parameters

camera_frame_id (string, default: “head_camera”)

camera_info_url (string, default: “”)

camera_name (string, default: “head_camera”)

PacketController

publishes raw packets from the camera as images

Published topics

image (sensor_msgs/Image)

Parameters

image_width (int, default: 640)

image_height (int, default: 480)

encoding (string, default: “bgr8”)

value of Image::encoding

skip (int, default: 0)

number of packets skipped after publishment
useful to throttle network usage

CompressedPacketController

publishes raw packets from the camera as compressed images

Published topics

packet (sensor_msgs/CompressedImage)

Parameters

format (string, default: “jpeg”)

value of CompressedImage::format

skip (int, default: 0)

number of packets skipped after publishment
useful to throttle network usage

MjpegController

decodes mjpeg-compressed packets and publishes decoded images

Published topics

image (sensor_msgs/Image)

H264Controller

decodes h264-compressed packets and publishes decoded images

Published topics

image (sensor_msgs/Image)

RGB24Controller

converts rgb-formatted packets to bgr images and publishes them

Published topics

image (sensor_msgs/Image)

Parameters

image_width (int, default: 640)

image_height (int, default: 480)

UYVYController

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro ardent showing kinetic. Known supported distros are highlighted in the buttons above.

usb_cam_hardware repository

usb_cam_controllers usb_cam_hardware usb_cam_hardware_interface

ROS Distro
kinetic

Repository Summary

Checkout URI	https://github.com/yoshito-n-students/usb_cam_hardware.git
VCS Type	git
VCS Version	kinetic-devel
Last Updated	2020-07-12
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
usb_cam_controllers	0.0.6
usb_cam_hardware	0.0.6
usb_cam_hardware_interface	0.0.6

README

usb_cam_hardware

USB camera driver based on ros_control

Slides from ROS Japan UG #28 (in Japanese)

Nodelet: usb_cam_hardware/USBCamHardware

An USB camera driver which is almost compatible to usb_cam but based on ros_control. Major enhancements over usb_cam are;

impremented as a nodelet
supports h264 pixel format (1/10 network usage compared with mjpeg)
publishes raw packets from the camera (1/10 cpu usage and less latency compared with decoding mjpeg packets in the node)
accepts 3rd party controllers

Published topics

depends on controllers

Parameters

~video_device (string, default: “/dev/video0”)

~image_width (int, default: 640)

~image_height (int, default: 480)

~pixel_format (string, default: “mjpeg”)

Possible values are mjpeg, h264, rgb24, yuyv, uyvy

~framerate (int, default: 30)

Controllers

All topics and parameters are defined in each controller’s namespace
See example launch files to find how to use controllers

CameraInfoController

publishes camera information syncronized to packets from the camera

Published topics

camera_info (sensor_msgs/CameraInfo)

Parameters

camera_frame_id (string, default: “head_camera”)

camera_info_url (string, default: “”)

camera_name (string, default: “head_camera”)

PacketController

publishes raw packets from the camera as images

Published topics

image (sensor_msgs/Image)

Parameters

image_width (int, default: 640)

image_height (int, default: 480)

encoding (string, default: “bgr8”)

value of Image::encoding

skip (int, default: 0)

number of packets skipped after publishment
useful to throttle network usage

CompressedPacketController

publishes raw packets from the camera as compressed images

Published topics

packet (sensor_msgs/CompressedImage)

Parameters

format (string, default: “jpeg”)

value of CompressedImage::format

skip (int, default: 0)

number of packets skipped after publishment
useful to throttle network usage

MjpegController

decodes mjpeg-compressed packets and publishes decoded images

Published topics

image (sensor_msgs/Image)

H264Controller

decodes h264-compressed packets and publishes decoded images

Published topics

image (sensor_msgs/Image)

RGB24Controller

converts rgb-formatted packets to bgr images and publishes them

Published topics

image (sensor_msgs/Image)

Parameters

image_width (int, default: 640)

image_height (int, default: 480)

UYVYController

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro bouncy showing kinetic. Known supported distros are highlighted in the buttons above.

usb_cam_hardware repository

usb_cam_controllers usb_cam_hardware usb_cam_hardware_interface

ROS Distro
kinetic

Repository Summary

Checkout URI	https://github.com/yoshito-n-students/usb_cam_hardware.git
VCS Type	git
VCS Version	kinetic-devel
Last Updated	2020-07-12
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
usb_cam_controllers	0.0.6
usb_cam_hardware	0.0.6
usb_cam_hardware_interface	0.0.6

README

usb_cam_hardware

USB camera driver based on ros_control

Slides from ROS Japan UG #28 (in Japanese)

Nodelet: usb_cam_hardware/USBCamHardware

An USB camera driver which is almost compatible to usb_cam but based on ros_control. Major enhancements over usb_cam are;

impremented as a nodelet
supports h264 pixel format (1/10 network usage compared with mjpeg)
publishes raw packets from the camera (1/10 cpu usage and less latency compared with decoding mjpeg packets in the node)
accepts 3rd party controllers

Published topics

depends on controllers

Parameters

~video_device (string, default: “/dev/video0”)

~image_width (int, default: 640)

~image_height (int, default: 480)

~pixel_format (string, default: “mjpeg”)

Possible values are mjpeg, h264, rgb24, yuyv, uyvy

~framerate (int, default: 30)

Controllers

All topics and parameters are defined in each controller’s namespace
See example launch files to find how to use controllers

CameraInfoController

publishes camera information syncronized to packets from the camera

Published topics

camera_info (sensor_msgs/CameraInfo)

Parameters

camera_frame_id (string, default: “head_camera”)

camera_info_url (string, default: “”)

camera_name (string, default: “head_camera”)

PacketController

publishes raw packets from the camera as images

Published topics

image (sensor_msgs/Image)

Parameters

image_width (int, default: 640)

image_height (int, default: 480)

encoding (string, default: “bgr8”)

value of Image::encoding

skip (int, default: 0)

number of packets skipped after publishment
useful to throttle network usage

CompressedPacketController

publishes raw packets from the camera as compressed images

Published topics

packet (sensor_msgs/CompressedImage)

Parameters

format (string, default: “jpeg”)

value of CompressedImage::format

skip (int, default: 0)

number of packets skipped after publishment
useful to throttle network usage

MjpegController

decodes mjpeg-compressed packets and publishes decoded images

Published topics

image (sensor_msgs/Image)

H264Controller

decodes h264-compressed packets and publishes decoded images

Published topics

image (sensor_msgs/Image)

RGB24Controller

converts rgb-formatted packets to bgr images and publishes them

Published topics

image (sensor_msgs/Image)

Parameters

image_width (int, default: 640)

image_height (int, default: 480)

UYVYController

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro crystal showing kinetic. Known supported distros are highlighted in the buttons above.

usb_cam_hardware repository

usb_cam_controllers usb_cam_hardware usb_cam_hardware_interface

ROS Distro
kinetic

Repository Summary

Checkout URI	https://github.com/yoshito-n-students/usb_cam_hardware.git
VCS Type	git
VCS Version	kinetic-devel
Last Updated	2020-07-12
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
usb_cam_controllers	0.0.6
usb_cam_hardware	0.0.6
usb_cam_hardware_interface	0.0.6

README

usb_cam_hardware

USB camera driver based on ros_control

Slides from ROS Japan UG #28 (in Japanese)

Nodelet: usb_cam_hardware/USBCamHardware

An USB camera driver which is almost compatible to usb_cam but based on ros_control. Major enhancements over usb_cam are;

impremented as a nodelet
supports h264 pixel format (1/10 network usage compared with mjpeg)
publishes raw packets from the camera (1/10 cpu usage and less latency compared with decoding mjpeg packets in the node)
accepts 3rd party controllers

Published topics

depends on controllers

Parameters

~video_device (string, default: “/dev/video0”)

~image_width (int, default: 640)

~image_height (int, default: 480)

~pixel_format (string, default: “mjpeg”)

Possible values are mjpeg, h264, rgb24, yuyv, uyvy

~framerate (int, default: 30)

Controllers

All topics and parameters are defined in each controller’s namespace
See example launch files to find how to use controllers

CameraInfoController

publishes camera information syncronized to packets from the camera

Published topics

camera_info (sensor_msgs/CameraInfo)

Parameters

camera_frame_id (string, default: “head_camera”)

camera_info_url (string, default: “”)

camera_name (string, default: “head_camera”)

PacketController

publishes raw packets from the camera as images

Published topics

image (sensor_msgs/Image)

Parameters

image_width (int, default: 640)

image_height (int, default: 480)

encoding (string, default: “bgr8”)

value of Image::encoding

skip (int, default: 0)

number of packets skipped after publishment
useful to throttle network usage

CompressedPacketController

publishes raw packets from the camera as compressed images

Published topics

packet (sensor_msgs/CompressedImage)

Parameters

format (string, default: “jpeg”)

value of CompressedImage::format

skip (int, default: 0)

number of packets skipped after publishment
useful to throttle network usage

MjpegController

decodes mjpeg-compressed packets and publishes decoded images

Published topics

image (sensor_msgs/Image)

H264Controller

decodes h264-compressed packets and publishes decoded images

Published topics

image (sensor_msgs/Image)

RGB24Controller

converts rgb-formatted packets to bgr images and publishes them

Published topics

image (sensor_msgs/Image)

Parameters

image_width (int, default: 640)

image_height (int, default: 480)

UYVYController

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro eloquent showing kinetic. Known supported distros are highlighted in the buttons above.

usb_cam_hardware repository

usb_cam_controllers usb_cam_hardware usb_cam_hardware_interface

ROS Distro
kinetic

Repository Summary

Checkout URI	https://github.com/yoshito-n-students/usb_cam_hardware.git
VCS Type	git
VCS Version	kinetic-devel
Last Updated	2020-07-12
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
usb_cam_controllers	0.0.6
usb_cam_hardware	0.0.6
usb_cam_hardware_interface	0.0.6

README

usb_cam_hardware

USB camera driver based on ros_control

Slides from ROS Japan UG #28 (in Japanese)

Nodelet: usb_cam_hardware/USBCamHardware

An USB camera driver which is almost compatible to usb_cam but based on ros_control. Major enhancements over usb_cam are;

impremented as a nodelet
supports h264 pixel format (1/10 network usage compared with mjpeg)
publishes raw packets from the camera (1/10 cpu usage and less latency compared with decoding mjpeg packets in the node)
accepts 3rd party controllers

Published topics

depends on controllers

Parameters

~video_device (string, default: “/dev/video0”)

~image_width (int, default: 640)

~image_height (int, default: 480)

~pixel_format (string, default: “mjpeg”)

Possible values are mjpeg, h264, rgb24, yuyv, uyvy

~framerate (int, default: 30)

Controllers

All topics and parameters are defined in each controller’s namespace
See example launch files to find how to use controllers

CameraInfoController

publishes camera information syncronized to packets from the camera

Published topics

camera_info (sensor_msgs/CameraInfo)

Parameters

camera_frame_id (string, default: “head_camera”)

camera_info_url (string, default: “”)

camera_name (string, default: “head_camera”)

PacketController

publishes raw packets from the camera as images

Published topics

image (sensor_msgs/Image)

Parameters

image_width (int, default: 640)

image_height (int, default: 480)

encoding (string, default: “bgr8”)

value of Image::encoding

skip (int, default: 0)

number of packets skipped after publishment
useful to throttle network usage

CompressedPacketController

publishes raw packets from the camera as compressed images

Published topics

packet (sensor_msgs/CompressedImage)

Parameters

format (string, default: “jpeg”)

value of CompressedImage::format

skip (int, default: 0)

number of packets skipped after publishment
useful to throttle network usage

MjpegController

decodes mjpeg-compressed packets and publishes decoded images

Published topics

image (sensor_msgs/Image)

H264Controller

decodes h264-compressed packets and publishes decoded images

Published topics

image (sensor_msgs/Image)

RGB24Controller

converts rgb-formatted packets to bgr images and publishes them

Published topics

image (sensor_msgs/Image)

Parameters

image_width (int, default: 640)

image_height (int, default: 480)

UYVYController

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro dashing showing kinetic. Known supported distros are highlighted in the buttons above.

usb_cam_hardware repository

usb_cam_controllers usb_cam_hardware usb_cam_hardware_interface

ROS Distro
kinetic

Repository Summary

Checkout URI	https://github.com/yoshito-n-students/usb_cam_hardware.git
VCS Type	git
VCS Version	kinetic-devel
Last Updated	2020-07-12
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
usb_cam_controllers	0.0.6
usb_cam_hardware	0.0.6
usb_cam_hardware_interface	0.0.6

README

usb_cam_hardware

USB camera driver based on ros_control

Slides from ROS Japan UG #28 (in Japanese)

Nodelet: usb_cam_hardware/USBCamHardware

An USB camera driver which is almost compatible to usb_cam but based on ros_control. Major enhancements over usb_cam are;

impremented as a nodelet
supports h264 pixel format (1/10 network usage compared with mjpeg)
publishes raw packets from the camera (1/10 cpu usage and less latency compared with decoding mjpeg packets in the node)
accepts 3rd party controllers

Published topics

depends on controllers

Parameters

~video_device (string, default: “/dev/video0”)

~image_width (int, default: 640)

~image_height (int, default: 480)

~pixel_format (string, default: “mjpeg”)

Possible values are mjpeg, h264, rgb24, yuyv, uyvy

~framerate (int, default: 30)

Controllers

All topics and parameters are defined in each controller’s namespace
See example launch files to find how to use controllers

CameraInfoController

publishes camera information syncronized to packets from the camera

Published topics

camera_info (sensor_msgs/CameraInfo)

Parameters

camera_frame_id (string, default: “head_camera”)

camera_info_url (string, default: “”)

camera_name (string, default: “head_camera”)

PacketController

publishes raw packets from the camera as images

Published topics

image (sensor_msgs/Image)

Parameters

image_width (int, default: 640)

image_height (int, default: 480)

encoding (string, default: “bgr8”)

value of Image::encoding

skip (int, default: 0)

number of packets skipped after publishment
useful to throttle network usage

CompressedPacketController

publishes raw packets from the camera as compressed images

Published topics

packet (sensor_msgs/CompressedImage)

Parameters

format (string, default: “jpeg”)

value of CompressedImage::format

skip (int, default: 0)

number of packets skipped after publishment
useful to throttle network usage

MjpegController

decodes mjpeg-compressed packets and publishes decoded images

Published topics

image (sensor_msgs/Image)

H264Controller

decodes h264-compressed packets and publishes decoded images

Published topics

image (sensor_msgs/Image)

RGB24Controller

converts rgb-formatted packets to bgr images and publishes them

Published topics

image (sensor_msgs/Image)

Parameters

image_width (int, default: 640)

image_height (int, default: 480)

UYVYController

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro galactic showing kinetic. Known supported distros are highlighted in the buttons above.

usb_cam_hardware repository

usb_cam_controllers usb_cam_hardware usb_cam_hardware_interface

ROS Distro
kinetic

Repository Summary

Checkout URI	https://github.com/yoshito-n-students/usb_cam_hardware.git
VCS Type	git
VCS Version	kinetic-devel
Last Updated	2020-07-12
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
usb_cam_controllers	0.0.6
usb_cam_hardware	0.0.6
usb_cam_hardware_interface	0.0.6

README

usb_cam_hardware

USB camera driver based on ros_control

Slides from ROS Japan UG #28 (in Japanese)

Nodelet: usb_cam_hardware/USBCamHardware

An USB camera driver which is almost compatible to usb_cam but based on ros_control. Major enhancements over usb_cam are;

impremented as a nodelet
supports h264 pixel format (1/10 network usage compared with mjpeg)
publishes raw packets from the camera (1/10 cpu usage and less latency compared with decoding mjpeg packets in the node)
accepts 3rd party controllers

Published topics

depends on controllers

Parameters

~video_device (string, default: “/dev/video0”)

~image_width (int, default: 640)

~image_height (int, default: 480)

~pixel_format (string, default: “mjpeg”)

Possible values are mjpeg, h264, rgb24, yuyv, uyvy

~framerate (int, default: 30)

Controllers

All topics and parameters are defined in each controller’s namespace
See example launch files to find how to use controllers

CameraInfoController

publishes camera information syncronized to packets from the camera

Published topics

camera_info (sensor_msgs/CameraInfo)

Parameters

camera_frame_id (string, default: “head_camera”)

camera_info_url (string, default: “”)

camera_name (string, default: “head_camera”)

PacketController

publishes raw packets from the camera as images

Published topics

image (sensor_msgs/Image)

Parameters

image_width (int, default: 640)

image_height (int, default: 480)

encoding (string, default: “bgr8”)

value of Image::encoding

skip (int, default: 0)

number of packets skipped after publishment
useful to throttle network usage

CompressedPacketController

publishes raw packets from the camera as compressed images

Published topics

packet (sensor_msgs/CompressedImage)

Parameters

format (string, default: “jpeg”)

value of CompressedImage::format

skip (int, default: 0)

number of packets skipped after publishment
useful to throttle network usage

MjpegController

decodes mjpeg-compressed packets and publishes decoded images

Published topics

image (sensor_msgs/Image)

H264Controller

decodes h264-compressed packets and publishes decoded images

Published topics

image (sensor_msgs/Image)

RGB24Controller

converts rgb-formatted packets to bgr images and publishes them

Published topics

image (sensor_msgs/Image)

Parameters

image_width (int, default: 640)

image_height (int, default: 480)

UYVYController

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro foxy showing kinetic. Known supported distros are highlighted in the buttons above.

usb_cam_hardware repository

usb_cam_controllers usb_cam_hardware usb_cam_hardware_interface

ROS Distro
kinetic

Repository Summary

Checkout URI	https://github.com/yoshito-n-students/usb_cam_hardware.git
VCS Type	git
VCS Version	kinetic-devel
Last Updated	2020-07-12
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
usb_cam_controllers	0.0.6
usb_cam_hardware	0.0.6
usb_cam_hardware_interface	0.0.6

README

usb_cam_hardware

USB camera driver based on ros_control

Slides from ROS Japan UG #28 (in Japanese)

Nodelet: usb_cam_hardware/USBCamHardware

An USB camera driver which is almost compatible to usb_cam but based on ros_control. Major enhancements over usb_cam are;

impremented as a nodelet
supports h264 pixel format (1/10 network usage compared with mjpeg)
publishes raw packets from the camera (1/10 cpu usage and less latency compared with decoding mjpeg packets in the node)
accepts 3rd party controllers

Published topics

depends on controllers

Parameters

~video_device (string, default: “/dev/video0”)

~image_width (int, default: 640)

~image_height (int, default: 480)

~pixel_format (string, default: “mjpeg”)

Possible values are mjpeg, h264, rgb24, yuyv, uyvy

~framerate (int, default: 30)

Controllers

All topics and parameters are defined in each controller’s namespace
See example launch files to find how to use controllers

CameraInfoController

publishes camera information syncronized to packets from the camera

Published topics

camera_info (sensor_msgs/CameraInfo)

Parameters

camera_frame_id (string, default: “head_camera”)

camera_info_url (string, default: “”)

camera_name (string, default: “head_camera”)

PacketController

publishes raw packets from the camera as images

Published topics

image (sensor_msgs/Image)

Parameters

image_width (int, default: 640)

image_height (int, default: 480)

encoding (string, default: “bgr8”)

value of Image::encoding

skip (int, default: 0)

number of packets skipped after publishment
useful to throttle network usage

CompressedPacketController

publishes raw packets from the camera as compressed images

Published topics

packet (sensor_msgs/CompressedImage)

Parameters

format (string, default: “jpeg”)

value of CompressedImage::format

skip (int, default: 0)

number of packets skipped after publishment
useful to throttle network usage

MjpegController

decodes mjpeg-compressed packets and publishes decoded images

Published topics

image (sensor_msgs/Image)

H264Controller

decodes h264-compressed packets and publishes decoded images

Published topics

image (sensor_msgs/Image)

RGB24Controller

converts rgb-formatted packets to bgr images and publishes them

Published topics

image (sensor_msgs/Image)

Parameters

image_width (int, default: 640)

image_height (int, default: 480)

UYVYController

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro iron showing kinetic. Known supported distros are highlighted in the buttons above.

usb_cam_hardware repository

usb_cam_controllers usb_cam_hardware usb_cam_hardware_interface

ROS Distro
kinetic

Repository Summary

Checkout URI	https://github.com/yoshito-n-students/usb_cam_hardware.git
VCS Type	git
VCS Version	kinetic-devel
Last Updated	2020-07-12
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
usb_cam_controllers	0.0.6
usb_cam_hardware	0.0.6
usb_cam_hardware_interface	0.0.6

README

usb_cam_hardware

USB camera driver based on ros_control

Slides from ROS Japan UG #28 (in Japanese)

Nodelet: usb_cam_hardware/USBCamHardware

An USB camera driver which is almost compatible to usb_cam but based on ros_control. Major enhancements over usb_cam are;

impremented as a nodelet
supports h264 pixel format (1/10 network usage compared with mjpeg)
publishes raw packets from the camera (1/10 cpu usage and less latency compared with decoding mjpeg packets in the node)
accepts 3rd party controllers

Published topics

depends on controllers

Parameters

~video_device (string, default: “/dev/video0”)

~image_width (int, default: 640)

~image_height (int, default: 480)

~pixel_format (string, default: “mjpeg”)

Possible values are mjpeg, h264, rgb24, yuyv, uyvy

~framerate (int, default: 30)

Controllers

All topics and parameters are defined in each controller’s namespace
See example launch files to find how to use controllers

CameraInfoController

publishes camera information syncronized to packets from the camera

Published topics

camera_info (sensor_msgs/CameraInfo)

Parameters

camera_frame_id (string, default: “head_camera”)

camera_info_url (string, default: “”)

camera_name (string, default: “head_camera”)

PacketController

publishes raw packets from the camera as images

Published topics

image (sensor_msgs/Image)

Parameters

image_width (int, default: 640)

image_height (int, default: 480)

encoding (string, default: “bgr8”)

value of Image::encoding

skip (int, default: 0)

number of packets skipped after publishment
useful to throttle network usage

CompressedPacketController

publishes raw packets from the camera as compressed images

Published topics

packet (sensor_msgs/CompressedImage)

Parameters

format (string, default: “jpeg”)

value of CompressedImage::format

skip (int, default: 0)

number of packets skipped after publishment
useful to throttle network usage

MjpegController

decodes mjpeg-compressed packets and publishes decoded images

Published topics

image (sensor_msgs/Image)

H264Controller

decodes h264-compressed packets and publishes decoded images

Published topics

image (sensor_msgs/Image)

RGB24Controller

converts rgb-formatted packets to bgr images and publishes them

Published topics

image (sensor_msgs/Image)

Parameters

image_width (int, default: 640)

image_height (int, default: 480)

UYVYController

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro lunar showing kinetic. Known supported distros are highlighted in the buttons above.

usb_cam_hardware repository

usb_cam_controllers usb_cam_hardware usb_cam_hardware_interface

ROS Distro
kinetic

Repository Summary

Checkout URI	https://github.com/yoshito-n-students/usb_cam_hardware.git
VCS Type	git
VCS Version	kinetic-devel
Last Updated	2020-07-12
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
usb_cam_controllers	0.0.6
usb_cam_hardware	0.0.6
usb_cam_hardware_interface	0.0.6

README

usb_cam_hardware

USB camera driver based on ros_control

Slides from ROS Japan UG #28 (in Japanese)

Nodelet: usb_cam_hardware/USBCamHardware

An USB camera driver which is almost compatible to usb_cam but based on ros_control. Major enhancements over usb_cam are;

impremented as a nodelet
supports h264 pixel format (1/10 network usage compared with mjpeg)
publishes raw packets from the camera (1/10 cpu usage and less latency compared with decoding mjpeg packets in the node)
accepts 3rd party controllers

Published topics

depends on controllers

Parameters

~video_device (string, default: “/dev/video0”)

~image_width (int, default: 640)

~image_height (int, default: 480)

~pixel_format (string, default: “mjpeg”)

Possible values are mjpeg, h264, rgb24, yuyv, uyvy

~framerate (int, default: 30)

Controllers

All topics and parameters are defined in each controller’s namespace
See example launch files to find how to use controllers

CameraInfoController

publishes camera information syncronized to packets from the camera

Published topics

camera_info (sensor_msgs/CameraInfo)

Parameters

camera_frame_id (string, default: “head_camera”)

camera_info_url (string, default: “”)

camera_name (string, default: “head_camera”)

PacketController

publishes raw packets from the camera as images

Published topics

image (sensor_msgs/Image)

Parameters

image_width (int, default: 640)

image_height (int, default: 480)

encoding (string, default: “bgr8”)

value of Image::encoding

skip (int, default: 0)

number of packets skipped after publishment
useful to throttle network usage

CompressedPacketController

publishes raw packets from the camera as compressed images

Published topics

packet (sensor_msgs/CompressedImage)

Parameters

format (string, default: “jpeg”)

value of CompressedImage::format

skip (int, default: 0)

number of packets skipped after publishment
useful to throttle network usage

MjpegController

decodes mjpeg-compressed packets and publishes decoded images

Published topics

image (sensor_msgs/Image)

H264Controller

decodes h264-compressed packets and publishes decoded images

Published topics

image (sensor_msgs/Image)

RGB24Controller

converts rgb-formatted packets to bgr images and publishes them

Published topics

image (sensor_msgs/Image)

Parameters

image_width (int, default: 640)

image_height (int, default: 480)

UYVYController

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro jade showing kinetic. Known supported distros are highlighted in the buttons above.

usb_cam_hardware repository

usb_cam_controllers usb_cam_hardware usb_cam_hardware_interface

ROS Distro
kinetic

Repository Summary

Checkout URI	https://github.com/yoshito-n-students/usb_cam_hardware.git
VCS Type	git
VCS Version	kinetic-devel
Last Updated	2020-07-12
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
usb_cam_controllers	0.0.6
usb_cam_hardware	0.0.6
usb_cam_hardware_interface	0.0.6

README

usb_cam_hardware

USB camera driver based on ros_control

Slides from ROS Japan UG #28 (in Japanese)

Nodelet: usb_cam_hardware/USBCamHardware

An USB camera driver which is almost compatible to usb_cam but based on ros_control. Major enhancements over usb_cam are;

impremented as a nodelet
supports h264 pixel format (1/10 network usage compared with mjpeg)
publishes raw packets from the camera (1/10 cpu usage and less latency compared with decoding mjpeg packets in the node)
accepts 3rd party controllers

Published topics

depends on controllers

Parameters

~video_device (string, default: “/dev/video0”)

~image_width (int, default: 640)

~image_height (int, default: 480)

~pixel_format (string, default: “mjpeg”)

Possible values are mjpeg, h264, rgb24, yuyv, uyvy

~framerate (int, default: 30)

Controllers

All topics and parameters are defined in each controller’s namespace
See example launch files to find how to use controllers

CameraInfoController

publishes camera information syncronized to packets from the camera

Published topics

camera_info (sensor_msgs/CameraInfo)

Parameters

camera_frame_id (string, default: “head_camera”)

camera_info_url (string, default: “”)

camera_name (string, default: “head_camera”)

PacketController

publishes raw packets from the camera as images

Published topics

image (sensor_msgs/Image)

Parameters

image_width (int, default: 640)

image_height (int, default: 480)

encoding (string, default: “bgr8”)

value of Image::encoding

skip (int, default: 0)

number of packets skipped after publishment
useful to throttle network usage

CompressedPacketController

publishes raw packets from the camera as compressed images

Published topics

packet (sensor_msgs/CompressedImage)

Parameters

format (string, default: “jpeg”)

value of CompressedImage::format

skip (int, default: 0)

number of packets skipped after publishment
useful to throttle network usage

MjpegController

decodes mjpeg-compressed packets and publishes decoded images

Published topics

image (sensor_msgs/Image)

H264Controller

decodes h264-compressed packets and publishes decoded images

Published topics

image (sensor_msgs/Image)

RGB24Controller

converts rgb-formatted packets to bgr images and publishes them

Published topics

image (sensor_msgs/Image)

Parameters

image_width (int, default: 640)

image_height (int, default: 480)

UYVYController

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro indigo showing kinetic. Known supported distros are highlighted in the buttons above.

usb_cam_hardware repository

usb_cam_controllers usb_cam_hardware usb_cam_hardware_interface

ROS Distro
kinetic

Repository Summary

Checkout URI	https://github.com/yoshito-n-students/usb_cam_hardware.git
VCS Type	git
VCS Version	kinetic-devel
Last Updated	2020-07-12
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
usb_cam_controllers	0.0.6
usb_cam_hardware	0.0.6
usb_cam_hardware_interface	0.0.6

README

usb_cam_hardware

USB camera driver based on ros_control

Slides from ROS Japan UG #28 (in Japanese)

Nodelet: usb_cam_hardware/USBCamHardware

An USB camera driver which is almost compatible to usb_cam but based on ros_control. Major enhancements over usb_cam are;

impremented as a nodelet
supports h264 pixel format (1/10 network usage compared with mjpeg)
publishes raw packets from the camera (1/10 cpu usage and less latency compared with decoding mjpeg packets in the node)
accepts 3rd party controllers

Published topics

depends on controllers

Parameters

~video_device (string, default: “/dev/video0”)

~image_width (int, default: 640)

~image_height (int, default: 480)

~pixel_format (string, default: “mjpeg”)

Possible values are mjpeg, h264, rgb24, yuyv, uyvy

~framerate (int, default: 30)

Controllers

All topics and parameters are defined in each controller’s namespace
See example launch files to find how to use controllers

CameraInfoController

publishes camera information syncronized to packets from the camera

Published topics

camera_info (sensor_msgs/CameraInfo)

Parameters

camera_frame_id (string, default: “head_camera”)

camera_info_url (string, default: “”)

camera_name (string, default: “head_camera”)

PacketController

publishes raw packets from the camera as images

Published topics

image (sensor_msgs/Image)

Parameters

image_width (int, default: 640)

image_height (int, default: 480)

encoding (string, default: “bgr8”)

value of Image::encoding

skip (int, default: 0)

number of packets skipped after publishment
useful to throttle network usage

CompressedPacketController

publishes raw packets from the camera as compressed images

Published topics

packet (sensor_msgs/CompressedImage)

Parameters

format (string, default: “jpeg”)

value of CompressedImage::format

skip (int, default: 0)

number of packets skipped after publishment
useful to throttle network usage

MjpegController

decodes mjpeg-compressed packets and publishes decoded images

Published topics

image (sensor_msgs/Image)

H264Controller

decodes h264-compressed packets and publishes decoded images

Published topics

image (sensor_msgs/Image)

RGB24Controller

converts rgb-formatted packets to bgr images and publishes them

Published topics

image (sensor_msgs/Image)

Parameters

image_width (int, default: 640)

image_height (int, default: 480)

UYVYController

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro hydro showing kinetic. Known supported distros are highlighted in the buttons above.

usb_cam_hardware repository

usb_cam_controllers usb_cam_hardware usb_cam_hardware_interface

ROS Distro
kinetic

Repository Summary

Checkout URI	https://github.com/yoshito-n-students/usb_cam_hardware.git
VCS Type	git
VCS Version	kinetic-devel
Last Updated	2020-07-12
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
usb_cam_controllers	0.0.6
usb_cam_hardware	0.0.6
usb_cam_hardware_interface	0.0.6

README

usb_cam_hardware

USB camera driver based on ros_control

Slides from ROS Japan UG #28 (in Japanese)

Nodelet: usb_cam_hardware/USBCamHardware

An USB camera driver which is almost compatible to usb_cam but based on ros_control. Major enhancements over usb_cam are;

impremented as a nodelet
supports h264 pixel format (1/10 network usage compared with mjpeg)
publishes raw packets from the camera (1/10 cpu usage and less latency compared with decoding mjpeg packets in the node)
accepts 3rd party controllers

Published topics

depends on controllers

Parameters

~video_device (string, default: “/dev/video0”)

~image_width (int, default: 640)

~image_height (int, default: 480)

~pixel_format (string, default: “mjpeg”)

Possible values are mjpeg, h264, rgb24, yuyv, uyvy

~framerate (int, default: 30)

Controllers

All topics and parameters are defined in each controller’s namespace
See example launch files to find how to use controllers

CameraInfoController

publishes camera information syncronized to packets from the camera

Published topics

camera_info (sensor_msgs/CameraInfo)

Parameters

camera_frame_id (string, default: “head_camera”)

camera_info_url (string, default: “”)

camera_name (string, default: “head_camera”)

PacketController

publishes raw packets from the camera as images

Published topics

image (sensor_msgs/Image)

Parameters

image_width (int, default: 640)

image_height (int, default: 480)

encoding (string, default: “bgr8”)

value of Image::encoding

skip (int, default: 0)

number of packets skipped after publishment
useful to throttle network usage

CompressedPacketController

publishes raw packets from the camera as compressed images

Published topics

packet (sensor_msgs/CompressedImage)

Parameters

format (string, default: “jpeg”)

value of CompressedImage::format

skip (int, default: 0)

number of packets skipped after publishment
useful to throttle network usage

MjpegController

decodes mjpeg-compressed packets and publishes decoded images

Published topics

image (sensor_msgs/Image)

H264Controller

decodes h264-compressed packets and publishes decoded images

Published topics

image (sensor_msgs/Image)

RGB24Controller

converts rgb-formatted packets to bgr images and publishes them

Published topics

image (sensor_msgs/Image)

Parameters

image_width (int, default: 640)

image_height (int, default: 480)

UYVYController

File truncated at 100 lines see the full file

CONTRIBUTING

usb_cam_hardware repository

usb_cam_controllers usb_cam_hardware usb_cam_hardware_interface

ROS Distro
kinetic

Repository Summary

Checkout URI	https://github.com/yoshito-n-students/usb_cam_hardware.git
VCS Type	git
VCS Version	kinetic-devel
Last Updated	2020-07-12
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
usb_cam_controllers	0.0.6
usb_cam_hardware	0.0.6
usb_cam_hardware_interface	0.0.6

README

usb_cam_hardware

USB camera driver based on ros_control

Slides from ROS Japan UG #28 (in Japanese)

Nodelet: usb_cam_hardware/USBCamHardware

An USB camera driver which is almost compatible to usb_cam but based on ros_control. Major enhancements over usb_cam are;

impremented as a nodelet
supports h264 pixel format (1/10 network usage compared with mjpeg)
publishes raw packets from the camera (1/10 cpu usage and less latency compared with decoding mjpeg packets in the node)
accepts 3rd party controllers

Published topics

depends on controllers

Parameters

~video_device (string, default: “/dev/video0”)

~image_width (int, default: 640)

~image_height (int, default: 480)

~pixel_format (string, default: “mjpeg”)

Possible values are mjpeg, h264, rgb24, yuyv, uyvy

~framerate (int, default: 30)

Controllers

All topics and parameters are defined in each controller’s namespace
See example launch files to find how to use controllers

CameraInfoController

publishes camera information syncronized to packets from the camera

Published topics

camera_info (sensor_msgs/CameraInfo)

Parameters

camera_frame_id (string, default: “head_camera”)

camera_info_url (string, default: “”)

camera_name (string, default: “head_camera”)

PacketController

publishes raw packets from the camera as images

Published topics

image (sensor_msgs/Image)

Parameters

image_width (int, default: 640)

image_height (int, default: 480)

encoding (string, default: “bgr8”)

value of Image::encoding

skip (int, default: 0)

number of packets skipped after publishment
useful to throttle network usage

CompressedPacketController

publishes raw packets from the camera as compressed images

Published topics

packet (sensor_msgs/CompressedImage)

Parameters

format (string, default: “jpeg”)

value of CompressedImage::format

skip (int, default: 0)

number of packets skipped after publishment
useful to throttle network usage

MjpegController

decodes mjpeg-compressed packets and publishes decoded images

Published topics

image (sensor_msgs/Image)

H264Controller

decodes h264-compressed packets and publishes decoded images

Published topics

image (sensor_msgs/Image)

RGB24Controller

converts rgb-formatted packets to bgr images and publishes them

Published topics

image (sensor_msgs/Image)

Parameters

image_width (int, default: 640)

image_height (int, default: 480)

UYVYController

File truncated at 100 lines see the full file

CONTRIBUTING

usb_cam_hardware repository

usb_cam_controllers usb_cam_hardware usb_cam_hardware_interface

ROS Distro
melodic

Repository Summary

Checkout URI	https://github.com/yoshito-n-students/usb_cam_hardware.git
VCS Type	git
VCS Version	melodic-devel
Last Updated	2020-07-12
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
usb_cam_controllers	0.1.1
usb_cam_hardware	0.1.1
usb_cam_hardware_interface	0.1.1

README

usb_cam_hardware

USB camera driver based on ros_control

Slides from ROS Japan UG #28 (in Japanese)

Nodelet: usb_cam_hardware/USBCamHardware

An USB camera driver which is almost compatible to usb_cam but based on ros_control. Major enhancements over usb_cam are;

impremented as a nodelet
supports h264 pixel format (1/10 network usage compared with mjpeg)
publishes raw packets from the camera (1/10 cpu usage and less latency compared with decoding mjpeg packets in the node)
accepts 3rd party controllers

Published topics

depends on controllers

Parameters

~video_device (string, default: “/dev/video0”)

~image_width (int, default: 640)

~image_height (int, default: 480)

~pixel_format (string, default: “mjpeg”)

Possible values are mjpeg, h264, rgb24, yuyv, uyvy

~framerate (int, default: 30)

Controllers

All topics and parameters are defined in each controller’s namespace
See example launch files to find how to use controllers

CameraInfoController

publishes camera information syncronized to packets from the camera

Published topics

camera_info (sensor_msgs/CameraInfo)

Parameters

camera_frame_id (string, default: “head_camera”)

camera_info_url (string, default: “”)

camera_name (string, default: “head_camera”)

PacketController

publishes raw packets from the camera as images

Published topics

image (sensor_msgs/Image)

Parameters

image_width (int, default: 640)

image_height (int, default: 480)

encoding (string, default: “bgr8”)

value of Image::encoding

skip (int, default: 0)

number of packets skipped after publishment
useful to throttle network usage

CompressedPacketController

publishes raw packets from the camera as compressed images

Published topics

packet (sensor_msgs/CompressedImage)

Parameters

format (string, default: “jpeg”)

value of CompressedImage::format

skip (int, default: 0)

number of packets skipped after publishment
useful to throttle network usage

MjpegController

decodes mjpeg-compressed packets and publishes decoded images

Published topics

image (sensor_msgs/Image)

H264Controller

decodes h264-compressed packets and publishes decoded images

Published topics

image (sensor_msgs/Image)

RGB24Controller

converts rgb-formatted packets to bgr images and publishes them

Published topics

image (sensor_msgs/Image)

Parameters

image_width (int, default: 640)

image_height (int, default: 480)

UYVYController

File truncated at 100 lines see the full file

CONTRIBUTING

usb_cam_hardware repository

usb_cam_controllers usb_cam_hardware usb_cam_hardware_interface

ROS Distro
noetic

Repository Summary

Checkout URI	https://github.com/yoshito-n-students/usb_cam_hardware.git
VCS Type	git
VCS Version	noetic-devel
Last Updated	2020-07-12
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
usb_cam_controllers	0.2.1
usb_cam_hardware	0.2.1
usb_cam_hardware_interface	0.2.1

README

usb_cam_hardware

USB camera driver based on ros_control

Slides from ROS Japan UG #28 (in Japanese)

Nodelet: usb_cam_hardware/USBCamHardware

An USB camera driver which is almost compatible to usb_cam but based on ros_control. Major enhancements over usb_cam are;

impremented as a nodelet
supports h264 pixel format (1/10 network usage compared with mjpeg)
publishes raw packets from the camera (1/10 cpu usage and less latency compared with decoding mjpeg packets in the node)
accepts 3rd party controllers

Published topics

depends on controllers

Parameters

~video_device (string, default: “/dev/video0”)

~image_width (int, default: 640)

~image_height (int, default: 480)

~pixel_format (string, default: “mjpeg”)

Possible values are mjpeg, h264, rgb24, yuyv, uyvy

~framerate (int, default: 30)

Controllers

All topics and parameters are defined in each controller’s namespace
See example launch files to find how to use controllers

CameraInfoController

publishes camera information syncronized to packets from the camera

Published topics

camera_info (sensor_msgs/CameraInfo)

Parameters

camera_frame_id (string, default: “head_camera”)

camera_info_url (string, default: “”)

camera_name (string, default: “head_camera”)

PacketController

publishes raw packets from the camera as images

Published topics

image (sensor_msgs/Image)

Parameters

image_width (int, default: 640)

image_height (int, default: 480)

encoding (string, default: “bgr8”)

value of Image::encoding

skip (int, default: 0)

number of packets skipped after publishment
useful to throttle network usage

CompressedPacketController

publishes raw packets from the camera as compressed images

Published topics

packet (sensor_msgs/CompressedImage)

Parameters

format (string, default: “jpeg”)

value of CompressedImage::format

skip (int, default: 0)

number of packets skipped after publishment
useful to throttle network usage

MjpegController

decodes mjpeg-compressed packets and publishes decoded images

Published topics

image (sensor_msgs/Image)

H264Controller

decodes h264-compressed packets and publishes decoded images

Published topics

image (sensor_msgs/Image)

RGB24Controller

converts rgb-formatted packets to bgr images and publishes them

Published topics

image (sensor_msgs/Image)

Parameters

image_width (int, default: 640)

image_height (int, default: 480)

UYVYController

File truncated at 100 lines see the full file

usb_cam_hardware repository

ROS Distrokinetic

Repository Summary

Packages

README

usb_cam_hardware

Nodelet: usb_cam_hardware/USBCamHardware

Published topics

Parameters

Controllers

CameraInfoController

Published topics

Parameters

PacketController

Published topics

Parameters

CompressedPacketController

Published topics

Parameters

MjpegController

Published topics

H264Controller

Published topics

RGB24Controller

Published topics

Parameters

UYVYController

CONTRIBUTING

usb_cam_hardware repository

ROS Distrokinetic

Repository Summary

Packages

README

usb_cam_hardware

Nodelet: usb_cam_hardware/USBCamHardware

Published topics

Parameters

Controllers

CameraInfoController

Published topics

Parameters

PacketController

Published topics

Parameters

CompressedPacketController

Published topics

Parameters

MjpegController

Published topics

H264Controller

Published topics

RGB24Controller

Published topics

Parameters

UYVYController

CONTRIBUTING

usb_cam_hardware repository

ROS Distrokinetic

Repository Summary

Packages

README

usb_cam_hardware

Nodelet: usb_cam_hardware/USBCamHardware

Published topics

Parameters

Controllers

CameraInfoController

Published topics

Parameters

PacketController

Published topics

Parameters

CompressedPacketController

Published topics

Parameters

MjpegController

Published topics

H264Controller

Published topics

RGB24Controller

ROS Distro
kinetic

ROS Distro
kinetic

ROS Distro
kinetic

ROS Distro
kinetic

ROS Distro
kinetic

ROS Distro
kinetic