Repository Summary
Checkout URI | https://gitlab.com/boldhearts/ros2_v4l2_camera.git |
VCS Type | git |
VCS Version | humble |
Last Updated | 2023-05-02 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
v4l2_camera | 0.6.2 |
README
v4l2_camera
A ROS 2 camera driver using Video4Linux2 (V4L2).
Features
- Lists and exposes all user-settable controls of your camera as ROS 2 parameters.
- Uses
cv_bridge
to convert raw frames to ROS 2 messages, so supports a wide range of encoding conversions. - Supports
image_transport
to enable compression. - Supports composing the camera node and using ROS 2 intra-process commmunication with zero-copy messaging.
Supported Cameras
The package should work with any camera that properly supports V4L2,
which for instance should include most USB cameras. A good way to
check your camera is to install the v4l2-utils
package (on Debian
based systems), and run the v4l2-compliance
tool. If that reports
no, or limited amounts of, failures or warnings, you should be good to
go.
The following cameras have in any case been proven to work:
Brand | Type | Driver | Notes |
---|---|---|---|
Logitech | C920 | uvcvideo |
|
Logitech | BRIO 4K Pro | uvcvideo |
|
Microdia | Integrated Webcam HD | uvcvideo |
Integrated laptop camera, e.g. Dell XPS series |
Raspberry Pi | Camera Module V2 (Noir) | bm2835 mmal |
See Raspberry Pi Support notes below |
Do let us know about other devices you successfully use this driver for, for instance through a merge request.
Raspberry Pi Support
Raspberry Pi has moved to a new camera stack based on
libcamera. As
part of this, by default the Broadcom Unicam driver will be loaded for
Raspberry Pi camera modules. This is still a V4L2 driver, however it
has a very limited scope and only provides raw Bayer images. Any
available Image Signal Processors, that can turn those raw images into
more useful formats such as RGB or JPEG, are now exposed as separate
V4L2 devices. This means that responsibility is pushed to an
application such as v4l2_camera
to operate the multiple devices,
rather than the single all-in-one device that most other V4L2 drivers
expose. Supporting this is out of scope of this package.
You can find out whether the Unicam driver is used by installing the
v4l-utils
package, running:
v4l2-ctl -D
and checking for bcm2835-unicam
. You can also install and run the
v4l2_camera
node, which mentionsunicam
as part of the driver name.
Luckily, for at least some devices, it is possible to load the legacy
driver instead of the new Unicam driver, by changing settings in the
/boot/config.txt
file:
- Set
camera_autodetect=0
to prevent hardware overlays that use the Unicam driver to be loaded. - Set
start_x=1
to enable the camera using the legacy driver.
Now when you reboot and run v4l2-ctl -D
again, or the v4l2_camera
node, you should see the driver being referred to as bm2835 mmal
instead. The v4l2_camera
node should then operate as normal.
Installation
ROS package install
This package is available from the ROS package repositories and can therefore be installed with the following command and your ROS version name:
sudo apt-get install ros-${ROS_DISTRO}-v4l2-camera
Building from source
To build this package from source, simply clone this repository into
your workspace, install dependencies, and build it using colcon
:
git clone --branch ${ROS_DISTRO} https://gitlab.com/boldhearts/ros2_v4l2_camera.git src/v4l2_camera
rosdep install --from-paths src/v4l2_camera --ignore-src -r -y
colcon build
That should be sufficient in most cases, but this article goes into further detail. It focuses on Raspberry Pi OS with the Raspberry Pi Camera Module V2, but the steps should be generally applicable.
File truncated at 100 lines see the full file
CONTRIBUTING
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
Repository Summary
Checkout URI | https://gitlab.com/boldhearts/ros2_v4l2_camera.git |
VCS Type | git |
VCS Version | rolling |
Last Updated | 2024-04-30 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
v4l2_camera | 0.7.1 |
README
v4l2_camera
A ROS 2 camera driver using Video4Linux2 (V4L2).
Features
- Lists and exposes all user-settable controls of your camera as ROS 2 parameters.
- Uses
cv_bridge
to convert raw frames to ROS 2 messages, so supports a wide range of encoding conversions. - Supports
image_transport
to enable compression. - Supports composing the camera node and using ROS 2 intra-process commmunication with zero-copy messaging.
Supported Cameras
The package should work with any camera that properly supports V4L2,
which for instance should include most USB cameras. A good way to
check your camera is to install the v4l2-utils
package (on Debian
based systems), and run the v4l2-compliance
tool. If that reports
no, or limited amounts of, failures or warnings, you should be good to
go.
The following cameras have in any case been proven to work:
Brand | Type | Driver | Notes |
---|---|---|---|
Logitech | C920 | uvcvideo |
|
Logitech | BRIO 4K Pro | uvcvideo |
|
Microdia | Integrated Webcam HD | uvcvideo |
Integrated laptop camera, e.g. Dell XPS series |
Raspberry Pi | Camera Module V2 (Noir) | bm2835 mmal |
See Raspberry Pi Support notes below |
Do let us know about other devices you successfully use this driver for, for instance through a merge request.
Raspberry Pi Support
Raspberry Pi has moved to a new camera stack based on
libcamera. As
part of this, by default the Broadcom Unicam driver will be loaded for
Raspberry Pi camera modules. This is still a V4L2 driver, however it
has a very limited scope and only provides raw Bayer images. Any
available Image Signal Processors, that can turn those raw images into
more useful formats such as RGB or JPEG, are now exposed as separate
V4L2 devices. This means that responsibility is pushed to an
application such as v4l2_camera
to operate the multiple devices,
rather than the single all-in-one device that most other V4L2 drivers
expose. Supporting this is out of scope of this package.
You can find out whether the Unicam driver is used by installing the
v4l-utils
package, running:
v4l2-ctl -D
and checking for bcm2835-unicam
. You can also install and run the
v4l2_camera
node, which mentionsunicam
as part of the driver name.
Luckily, for at least some devices, it is possible to load the legacy
driver instead of the new Unicam driver, by changing settings in the
/boot/config.txt
file:
- Set
camera_autodetect=0
to prevent hardware overlays that use the Unicam driver to be loaded. - Set
start_x=1
to enable the camera using the legacy driver.
Now when you reboot and run v4l2-ctl -D
again, or the v4l2_camera
node, you should see the driver being referred to as bm2835 mmal
instead. The v4l2_camera
node should then operate as normal.
Installation
ROS package install
This package is available from the ROS package repositories and can therefore be installed with the following command and your ROS version name:
sudo apt-get install ros-${ROS_DISTRO}-v4l2-camera
Building from source
To build this package from source, simply clone this repository into
your workspace, install dependencies, and build it using colcon
:
git clone --branch ${ROS_DISTRO} https://gitlab.com/boldhearts/ros2_v4l2_camera.git src/v4l2_camera
rosdep install --from-paths src/v4l2_camera --ignore-src -r -y
colcon build
That should be sufficient in most cases, but this article goes into further detail. It focuses on Raspberry Pi OS with the Raspberry Pi Camera Module V2, but the steps should be generally applicable.
File truncated at 100 lines see the full file
CONTRIBUTING
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
Repository Summary
Checkout URI | https://gitlab.com/boldhearts/ros2_v4l2_camera.git |
VCS Type | git |
VCS Version | rolling |
Last Updated | 2024-04-30 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
v4l2_camera | 0.7.1 |
README
v4l2_camera
A ROS 2 camera driver using Video4Linux2 (V4L2).
Features
- Lists and exposes all user-settable controls of your camera as ROS 2 parameters.
- Uses
cv_bridge
to convert raw frames to ROS 2 messages, so supports a wide range of encoding conversions. - Supports
image_transport
to enable compression. - Supports composing the camera node and using ROS 2 intra-process commmunication with zero-copy messaging.
Supported Cameras
The package should work with any camera that properly supports V4L2,
which for instance should include most USB cameras. A good way to
check your camera is to install the v4l2-utils
package (on Debian
based systems), and run the v4l2-compliance
tool. If that reports
no, or limited amounts of, failures or warnings, you should be good to
go.
The following cameras have in any case been proven to work:
Brand | Type | Driver | Notes |
---|---|---|---|
Logitech | C920 | uvcvideo |
|
Logitech | BRIO 4K Pro | uvcvideo |
|
Microdia | Integrated Webcam HD | uvcvideo |
Integrated laptop camera, e.g. Dell XPS series |
Raspberry Pi | Camera Module V2 (Noir) | bm2835 mmal |
See Raspberry Pi Support notes below |
Do let us know about other devices you successfully use this driver for, for instance through a merge request.
Raspberry Pi Support
Raspberry Pi has moved to a new camera stack based on
libcamera. As
part of this, by default the Broadcom Unicam driver will be loaded for
Raspberry Pi camera modules. This is still a V4L2 driver, however it
has a very limited scope and only provides raw Bayer images. Any
available Image Signal Processors, that can turn those raw images into
more useful formats such as RGB or JPEG, are now exposed as separate
V4L2 devices. This means that responsibility is pushed to an
application such as v4l2_camera
to operate the multiple devices,
rather than the single all-in-one device that most other V4L2 drivers
expose. Supporting this is out of scope of this package.
You can find out whether the Unicam driver is used by installing the
v4l-utils
package, running:
v4l2-ctl -D
and checking for bcm2835-unicam
. You can also install and run the
v4l2_camera
node, which mentionsunicam
as part of the driver name.
Luckily, for at least some devices, it is possible to load the legacy
driver instead of the new Unicam driver, by changing settings in the
/boot/config.txt
file:
- Set
camera_autodetect=0
to prevent hardware overlays that use the Unicam driver to be loaded. - Set
start_x=1
to enable the camera using the legacy driver.
Now when you reboot and run v4l2-ctl -D
again, or the v4l2_camera
node, you should see the driver being referred to as bm2835 mmal
instead. The v4l2_camera
node should then operate as normal.
Installation
ROS package install
This package is available from the ROS package repositories and can therefore be installed with the following command and your ROS version name:
sudo apt-get install ros-${ROS_DISTRO}-v4l2-camera
Building from source
To build this package from source, simply clone this repository into
your workspace, install dependencies, and build it using colcon
:
git clone --branch ${ROS_DISTRO} https://gitlab.com/boldhearts/ros2_v4l2_camera.git src/v4l2_camera
rosdep install --from-paths src/v4l2_camera --ignore-src -r -y
colcon build
That should be sufficient in most cases, but this article goes into further detail. It focuses on Raspberry Pi OS with the Raspberry Pi Camera Module V2, but the steps should be generally applicable.
File truncated at 100 lines see the full file
CONTRIBUTING
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
Repository Summary
Checkout URI | https://gitlab.com/boldhearts/ros2_v4l2_camera.git |
VCS Type | git |
VCS Version | rolling |
Last Updated | 2024-04-30 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
v4l2_camera | 0.7.1 |
README
v4l2_camera
A ROS 2 camera driver using Video4Linux2 (V4L2).
Features
- Lists and exposes all user-settable controls of your camera as ROS 2 parameters.
- Uses
cv_bridge
to convert raw frames to ROS 2 messages, so supports a wide range of encoding conversions. - Supports
image_transport
to enable compression. - Supports composing the camera node and using ROS 2 intra-process commmunication with zero-copy messaging.
Supported Cameras
The package should work with any camera that properly supports V4L2,
which for instance should include most USB cameras. A good way to
check your camera is to install the v4l2-utils
package (on Debian
based systems), and run the v4l2-compliance
tool. If that reports
no, or limited amounts of, failures or warnings, you should be good to
go.
The following cameras have in any case been proven to work:
Brand | Type | Driver | Notes |
---|---|---|---|
Logitech | C920 | uvcvideo |
|
Logitech | BRIO 4K Pro | uvcvideo |
|
Microdia | Integrated Webcam HD | uvcvideo |
Integrated laptop camera, e.g. Dell XPS series |
Raspberry Pi | Camera Module V2 (Noir) | bm2835 mmal |
See Raspberry Pi Support notes below |
Do let us know about other devices you successfully use this driver for, for instance through a merge request.
Raspberry Pi Support
Raspberry Pi has moved to a new camera stack based on
libcamera. As
part of this, by default the Broadcom Unicam driver will be loaded for
Raspberry Pi camera modules. This is still a V4L2 driver, however it
has a very limited scope and only provides raw Bayer images. Any
available Image Signal Processors, that can turn those raw images into
more useful formats such as RGB or JPEG, are now exposed as separate
V4L2 devices. This means that responsibility is pushed to an
application such as v4l2_camera
to operate the multiple devices,
rather than the single all-in-one device that most other V4L2 drivers
expose. Supporting this is out of scope of this package.
You can find out whether the Unicam driver is used by installing the
v4l-utils
package, running:
v4l2-ctl -D
and checking for bcm2835-unicam
. You can also install and run the
v4l2_camera
node, which mentionsunicam
as part of the driver name.
Luckily, for at least some devices, it is possible to load the legacy
driver instead of the new Unicam driver, by changing settings in the
/boot/config.txt
file:
- Set
camera_autodetect=0
to prevent hardware overlays that use the Unicam driver to be loaded. - Set
start_x=1
to enable the camera using the legacy driver.
Now when you reboot and run v4l2-ctl -D
again, or the v4l2_camera
node, you should see the driver being referred to as bm2835 mmal
instead. The v4l2_camera
node should then operate as normal.
Installation
ROS package install
This package is available from the ROS package repositories and can therefore be installed with the following command and your ROS version name:
sudo apt-get install ros-${ROS_DISTRO}-v4l2-camera
Building from source
To build this package from source, simply clone this repository into
your workspace, install dependencies, and build it using colcon
:
git clone --branch ${ROS_DISTRO} https://gitlab.com/boldhearts/ros2_v4l2_camera.git src/v4l2_camera
rosdep install --from-paths src/v4l2_camera --ignore-src -r -y
colcon build
That should be sufficient in most cases, but this article goes into further detail. It focuses on Raspberry Pi OS with the Raspberry Pi Camera Module V2, but the steps should be generally applicable.
File truncated at 100 lines see the full file
CONTRIBUTING
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
Repository Summary
Checkout URI | https://gitlab.com/boldhearts/ros2_v4l2_camera.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2020-05-24 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
v4l2_camera | 0.1.1 |
README
v4l2_camera
A ROS 2 camera driver using Video4Linux2 (V4L2).
Custom Dependencies
The following dependencies need to be pulled in manually, because we need new features in them that have not been released yet:
-
common_interfaces
- USB cameras mostly use the YUY2 format, which historically hasn’t been supported in ROS. Support has landed recently, but has not been released yet, so you need to clone master into your workspace:git clone https://github.com/ros2/common_interfaces.git src/common_interfaces
-
vision_opencv
- The OpenCV bridge is used to convert between image formats. Support for the YUY2 format has not landed yet (see PR ros-perception/vision_opencv#309. Until that has happened, clone the fork into your workspace:git clone --branch yuv422-yuy2 https://github.com/sgvandijk/vision_opencv.git src/vision_opencv
Nodes
v4l2_camera_node
The v4l2_camera_node
interfaces with standard V4L2 devices and
publishes images as sensor_msgs/Image
messages.
Published Topics
-
/image_raw
-sensor_msgs/Image
The image.
Parameters
-
video_device
-string
, default:"/dev/video0"
The device the camera is on.
-
pixel_format
-string
, default:"YUYV"
The pixel format to request from the camera. Must be a valid four character ‘FOURCC’ code supported by V4L2 and by your camera. The node outputs the available formats supported by your camera when started.
Currently only
"YUYV"
is supported, which results in image messages with theYUV422_YUY2
encoding. -
output_encoding
-string
, default:"rgb8"
The encoding to use for the output image. Any format supported by
cv_bridge::cvtColor
is allowed. If this matches the input format from the camera, no conversion and thus no additional overhead is required. -
image_size
-integer_array
, default:[640, 480]
Width and height of the image.
-
Camera Control Parameters
Camera controls, such as brightness, contrast, white balance, etc, are automatically made available as parameters. The driver node enumerates all controls, and creates a parameter for each, with the corresponding value type. The parameter name is derived from the control name reported by the camera driver, made lower case, commas removed, and spaces replaced by underscores. So
Brightness
becomesbrightness
, andWhite Balance, Automatic
becomeswhite_balance_automatic
.
Compressed Transport
Streaming raw images from a robot to your machine takes up a very
large bandwidth and is especially not feasible through WiFi. By using
image_transport
the images can be compressed to make streaming
possible. However, by default image_transport
only supports raw
transfer, and additional plugins are required to enable
compression.
Standard ones are available in the
image_transport_plugins
repository. You can clone these into your workspace to get these:
git clone --branch ros2 https://github.com/ros-perception/image_transport_plugins.git src/image_transport_plugins
Building: Ubuntu
The following packages are required to be able to build the plugins:
sudo apt install libtheora-dev libogg-dev libboost-python-dev
Building: Arch
To get the plugins compiled on Arch Linux, a few special steps are
File truncated at 100 lines see the full file
CONTRIBUTING
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
Repository Summary
Checkout URI | https://gitlab.com/boldhearts/ros2_v4l2_camera.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2020-05-24 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
v4l2_camera | 0.1.1 |
README
v4l2_camera
A ROS 2 camera driver using Video4Linux2 (V4L2).
Custom Dependencies
The following dependencies need to be pulled in manually, because we need new features in them that have not been released yet:
-
common_interfaces
- USB cameras mostly use the YUY2 format, which historically hasn’t been supported in ROS. Support has landed recently, but has not been released yet, so you need to clone master into your workspace:git clone https://github.com/ros2/common_interfaces.git src/common_interfaces
-
vision_opencv
- The OpenCV bridge is used to convert between image formats. Support for the YUY2 format has not landed yet (see PR ros-perception/vision_opencv#309. Until that has happened, clone the fork into your workspace:git clone --branch yuv422-yuy2 https://github.com/sgvandijk/vision_opencv.git src/vision_opencv
Nodes
v4l2_camera_node
The v4l2_camera_node
interfaces with standard V4L2 devices and
publishes images as sensor_msgs/Image
messages.
Published Topics
-
/image_raw
-sensor_msgs/Image
The image.
Parameters
-
video_device
-string
, default:"/dev/video0"
The device the camera is on.
-
pixel_format
-string
, default:"YUYV"
The pixel format to request from the camera. Must be a valid four character ‘FOURCC’ code supported by V4L2 and by your camera. The node outputs the available formats supported by your camera when started.
Currently only
"YUYV"
is supported, which results in image messages with theYUV422_YUY2
encoding. -
output_encoding
-string
, default:"rgb8"
The encoding to use for the output image. Any format supported by
cv_bridge::cvtColor
is allowed. If this matches the input format from the camera, no conversion and thus no additional overhead is required. -
image_size
-integer_array
, default:[640, 480]
Width and height of the image.
-
Camera Control Parameters
Camera controls, such as brightness, contrast, white balance, etc, are automatically made available as parameters. The driver node enumerates all controls, and creates a parameter for each, with the corresponding value type. The parameter name is derived from the control name reported by the camera driver, made lower case, commas removed, and spaces replaced by underscores. So
Brightness
becomesbrightness
, andWhite Balance, Automatic
becomeswhite_balance_automatic
.
Compressed Transport
Streaming raw images from a robot to your machine takes up a very
large bandwidth and is especially not feasible through WiFi. By using
image_transport
the images can be compressed to make streaming
possible. However, by default image_transport
only supports raw
transfer, and additional plugins are required to enable
compression.
Standard ones are available in the
image_transport_plugins
repository. You can clone these into your workspace to get these:
git clone --branch ros2 https://github.com/ros-perception/image_transport_plugins.git src/image_transport_plugins
Building: Ubuntu
The following packages are required to be able to build the plugins:
sudo apt install libtheora-dev libogg-dev libboost-python-dev
Building: Arch
To get the plugins compiled on Arch Linux, a few special steps are
File truncated at 100 lines see the full file
CONTRIBUTING
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
Repository Summary
Checkout URI | https://gitlab.com/boldhearts/ros2_v4l2_camera.git |
VCS Type | git |
VCS Version | galactic |
Last Updated | 2022-08-19 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
v4l2_camera | 0.5.0 |
README
v4l2_camera
A ROS 2 camera driver using Video4Linux2 (V4L2).
Installation
This article details how to build and run this package. It focuses on Raspberry Pi OS with the Raspberry Pi Camera Module V2 but should generalise for most systems.
ROS package install
This is available from the ROS package repositories and can therefore be installed with the following command and your ROS version name:
apt-get install ros-<ros_version>-v4l2-camera
Building from source
If you need to modify the code or ensure you have the latest update you will need to clone this repo then build the package.
$ git clone --branch foxy https://gitlab.com/boldhearts/ros2_v4l2_camera.git src/v4l2_camera
$ colcon build
Most users will also want to set up compressed transport using the dependencies below.
Usage
Publish camera images, using the default parameters:
ros2 run v4l2_camera v4l2_camera_node
Preview the image (open another terminal):
ros2 run rqt_image_view rqt_image_view
Dependencies
-
image_transport
- makes it possible to set up compressed transport of the images, as described below.The ROS 2 port of
image_transport
in theimage_common
repository is needed inside of your workspace:git clone --branch ros2 https://github.com/ros-perception/image_common.git src/image_common
Note that
image_transport
only supports raw transport by default and needs additional plugins to actually provide compression; see below how to do this.
Nodes
v4l2_camera_node
The v4l2_camera_node
interfaces with standard V4L2 devices and
publishes images as sensor_msgs/Image
messages.
Published Topics
-
/image_raw
-sensor_msgs/Image
The image.
Parameters
-
video_device
-string
, default:"/dev/video0"
The device the camera is on.
-
pixel_format
-string
, default:"YUYV"
The pixel format to request from the camera. Must be a valid four character ‘FOURCC’ code supported by V4L2 and by your camera. The node outputs the available formats supported by your camera when started.
Currently supported:"YUYV"
or"GREY"
-
output_encoding
-string
, default:"rgb8"
The encoding to use for the output image.
Currently supported:"rgb8"
,"yuv422"
or"mono8"
. -
image_size
-integer_array
, default:[640, 480]
Width and height of the image.
-
time_per_frame
-integer_array
, default: current device settingThe time between two successive frames. The expected value is a ratio defined by an array of 2 integers. For instance, a value of
[1, 30]
sets a period of 1/30, and thus a framrate of 30Hz.If the provided period is not supported, the driver may choose another period near to it. In that case the parameter change is reported to have failed.
-
Camera Control Parameters
Camera controls, such as brightness, contrast, white balance, etc, are automatically made available as parameters. The driver node enumerates all controls, and creates a parameter for each, with the corresponding value type. The parameter name is derived from the control name reported by the camera driver, made lower case, commas removed, and spaces replaced by underscores. So
Brightness
becomesbrightness
, andWhite Balance, Automatic
becomeswhite_balance_automatic
.
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
Checkout URI | https://gitlab.com/boldhearts/ros2_v4l2_camera.git |
VCS Type | git |
VCS Version | foxy |
Last Updated | 2022-08-06 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
v4l2_camera | 0.5.0 |
README
v4l2_camera
A ROS 2 camera driver using Video4Linux2 (V4L2).
Installation
This article details how to build and run this package. It focuses on Raspberry Pi OS with the Raspberry Pi Camera Module V2 but should generalise for most systems.
ROS package install
This is available from the ROS package repositories and can therefore be installed with the following command and your ROS version name:
apt-get install ros-<ros_version>-v4l2-camera
Building from source
If you need to modify the code or ensure you have the latest update you will need to clone this repo then build the package.
$ git clone --branch foxy https://gitlab.com/boldhearts/ros2_v4l2_camera.git src/v4l2_camera
$ colcon build
Most users will also want to set up compressed transport using the dependencies below.
Usage
Publish camera images, using the default parameters:
ros2 run v4l2_camera v4l2_camera_node
Preview the image (open another terminal):
ros2 run rqt_image_view rqt_image_view
Dependencies
-
image_transport
- makes it possible to set up compressed transport of the images, as described below.The ROS 2 port of
image_transport
in theimage_common
repository is needed inside of your workspace:git clone --branch ros2 https://github.com/ros-perception/image_common.git src/image_common
Note that
image_transport
only supports raw transport by default and needs additional plugins to actually provide compression; see below how to do this.
Nodes
v4l2_camera_node
The v4l2_camera_node
interfaces with standard V4L2 devices and
publishes images as sensor_msgs/Image
messages.
Published Topics
-
/image_raw
-sensor_msgs/Image
The image.
Parameters
-
video_device
-string
, default:"/dev/video0"
The device the camera is on.
-
pixel_format
-string
, default:"YUYV"
The pixel format to request from the camera. Must be a valid four character ‘FOURCC’ code supported by V4L2 and by your camera. The node outputs the available formats supported by your camera when started.
Currently supported:"YUYV"
or"GREY"
-
output_encoding
-string
, default:"rgb8"
The encoding to use for the output image.
Currently supported:"rgb8"
,"yuv422"
or"mono8"
. -
image_size
-integer_array
, default:[640, 480]
Width and height of the image.
-
time_per_frame
-integer_array
, default: current device settingThe time between two successive frames. The expected value is a ratio defined by an array of 2 integers. For instance, a value of
[1, 30]
sets a period of 1/30, and thus a framrate of 30Hz.If the provided period is not supported, the driver may choose another period near to it. In that case the parameter change is reported to have failed.
-
Camera Control Parameters
Camera controls, such as brightness, contrast, white balance, etc, are automatically made available as parameters. The driver node enumerates all controls, and creates a parameter for each, with the corresponding value type. The parameter name is derived from the control name reported by the camera driver, made lower case, commas removed, and spaces replaced by underscores. So
Brightness
becomesbrightness
, andWhite Balance, Automatic
becomeswhite_balance_automatic
.
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
Checkout URI | https://gitlab.com/boldhearts/ros2_v4l2_camera.git |
VCS Type | git |
VCS Version | rolling |
Last Updated | 2024-04-30 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
v4l2_camera | 0.7.1 |
README
v4l2_camera
A ROS 2 camera driver using Video4Linux2 (V4L2).
Features
- Lists and exposes all user-settable controls of your camera as ROS 2 parameters.
- Uses
cv_bridge
to convert raw frames to ROS 2 messages, so supports a wide range of encoding conversions. - Supports
image_transport
to enable compression. - Supports composing the camera node and using ROS 2 intra-process commmunication with zero-copy messaging.
Supported Cameras
The package should work with any camera that properly supports V4L2,
which for instance should include most USB cameras. A good way to
check your camera is to install the v4l2-utils
package (on Debian
based systems), and run the v4l2-compliance
tool. If that reports
no, or limited amounts of, failures or warnings, you should be good to
go.
The following cameras have in any case been proven to work:
Brand | Type | Driver | Notes |
---|---|---|---|
Logitech | C920 | uvcvideo |
|
Logitech | BRIO 4K Pro | uvcvideo |
|
Microdia | Integrated Webcam HD | uvcvideo |
Integrated laptop camera, e.g. Dell XPS series |
Raspberry Pi | Camera Module V2 (Noir) | bm2835 mmal |
See Raspberry Pi Support notes below |
Do let us know about other devices you successfully use this driver for, for instance through a merge request.
Raspberry Pi Support
Raspberry Pi has moved to a new camera stack based on
libcamera. As
part of this, by default the Broadcom Unicam driver will be loaded for
Raspberry Pi camera modules. This is still a V4L2 driver, however it
has a very limited scope and only provides raw Bayer images. Any
available Image Signal Processors, that can turn those raw images into
more useful formats such as RGB or JPEG, are now exposed as separate
V4L2 devices. This means that responsibility is pushed to an
application such as v4l2_camera
to operate the multiple devices,
rather than the single all-in-one device that most other V4L2 drivers
expose. Supporting this is out of scope of this package.
You can find out whether the Unicam driver is used by installing the
v4l-utils
package, running:
v4l2-ctl -D
and checking for bcm2835-unicam
. You can also install and run the
v4l2_camera
node, which mentionsunicam
as part of the driver name.
Luckily, for at least some devices, it is possible to load the legacy
driver instead of the new Unicam driver, by changing settings in the
/boot/config.txt
file:
- Set
camera_autodetect=0
to prevent hardware overlays that use the Unicam driver to be loaded. - Set
start_x=1
to enable the camera using the legacy driver.
Now when you reboot and run v4l2-ctl -D
again, or the v4l2_camera
node, you should see the driver being referred to as bm2835 mmal
instead. The v4l2_camera
node should then operate as normal.
Installation
ROS package install
This package is available from the ROS package repositories and can therefore be installed with the following command and your ROS version name:
sudo apt-get install ros-${ROS_DISTRO}-v4l2-camera
Building from source
To build this package from source, simply clone this repository into
your workspace, install dependencies, and build it using colcon
:
git clone --branch ${ROS_DISTRO} https://gitlab.com/boldhearts/ros2_v4l2_camera.git src/v4l2_camera
rosdep install --from-paths src/v4l2_camera --ignore-src -r -y
colcon build
That should be sufficient in most cases, but this article goes into further detail. It focuses on Raspberry Pi OS with the Raspberry Pi Camera Module V2, but the steps should be generally applicable.
File truncated at 100 lines see the full file
CONTRIBUTING
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.