/image_proc_chain_app

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image_proc_chain_app

overview

T.B.D

backend

launch native camera device via GStreamer

function gst-launch() {
  gst-launch-1.0 avfvideosrc do-timestamp=true \
    ! jpegenc \
    ! rtpjpegpay \
    ! udpsink host=${1:-127.0.0.1} port=${2:-7001}
}

launch ros-gst-bridge to convert native image stream to ROS2 message

docker run \
  -e GST_PLUGIN_PATH=install/gst_bridge/lib/gst_bridge \
  -it \
  --rm \
  -p 127.0.0.1:7001:7001/udp \
  --name gst-bridge \
  gst-ros-bridge:ros2 \
  bash -c 'source install/setup.bash && gst-launch-1.0 udpsrc port=7001 ! application/x-rtp,encoding-name=JPEG ! rtpjpegdepay ! jpegdec ! rosimagesink'

launch image_proc_chain

frontend