usb_cam_hardware repository

Repository Summary

Checkout URI https://github.com/yoshito-n-students/usb_cam_hardware.git
VCS Type git
VCS Version noetic-devel
Last Updated 2020-05-27
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

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

converts uyvy-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)

YUYVController

converts yuyv-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)

codec_image_transport * for subscriber-side decoding of h264 packets published by the CompressedPacketController

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/yoshito-n-students/usb_cam_hardware.git
VCS Type git
VCS Version melodic-devel
Last Updated 2019-03-27
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

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

converts uyvy-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)

YUYVController

converts yuyv-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)

codec_image_transport * for subscriber-side decoding of h264 packets published by the CompressedPacketController

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/yoshito-n-students/usb_cam_hardware.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2019-03-27
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

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

converts uyvy-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)

YUYVController

converts yuyv-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)

codec_image_transport * for subscriber-side decoding of h264 packets published by the CompressedPacketController

CONTRIBUTING

No CONTRIBUTING.md found.