usb_cam_hardware repository

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
Released RELEASED

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

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
Released RELEASED

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